Detector for optically detecting at least one object

ABSTRACT

A detector ( 110, 1110, 2110 ) for determining a position of at least one object ( 112 ) is proposed. The detector ( 110, 1110, 2110 ) comprises: at least one transfer device ( 128, 1128 ), wherein the transfer device ( 128, 1128 ) has at least one focal length in response to at least one incident light beam ( 116, 1116 ) propagating from the object ( 112, 1112 ) to the detector ( 110, 1110, 2110 ); at least two optical sensors ( 113, 1118, 1120 ), wherein each optical sensor ( 113, 1118, 1120 ) has at least one light sensitive area ( 121, 1122, 1124 ), wherein each optical sensor ( 113, 1118, 1120 ) is designed to generate at least one sensor signal in response to an illumination of its respective light-sensitive area by the light beam ( 116, 1116 ), at least one evaluation device ( 132, 1132 ) being configured for determining at least one longitudinal coordinate z of the object ( 112, 1112 ) by evaluating a quotient signal Q from the sensor signals. The detector is adapted to determine the longitudinal coordinate z of the object in at least one measurement range independent from the object size in an object plane.

FIELD OF THE INVENTION

The invention relates to a detector, a detector system and a method fordetermining a position of at least one object. The invention furtherrelates to a human-machine interface for exchanging at least one item ofinformation between a user and a machine, an entertainment device, atracking system, a camera, a scanning system and various uses of thedetector device. The devices, systems, methods and uses according to thepresent invention specifically may be employed for example in variousareas of daily life, gaming, traffic technology, production technology,security technology, photography such as digital photography or videophotography for arts, documentation or technical purposes, medicaltechnology or in the sciences. Further, the invention specifically maybe used for scanning one or more objects and/or for scanning a scenery,such as for generating a depth profile of an object or of a scenery,e.g. in the field of architecture, metrology, archaeology, arts,medicine, engineering or manufacturing. However, other applications arealso possible.

PRIOR ART

A large number of optical sensors and photovoltaic devices are knownfrom the prior art. While photovoltaic devices are generally used toconvert electromagnetic radiation, for example, ultraviolet, visible orinfrared light, into electrical signals or electrical energy, opticaldetectors are generally used for picking up image information and/or fordetecting at least one optical parameter, for example, a brightness.

A large number of optical sensors which can be based generally on theuse of inorganic and/or organic sensor materials are known from theprior art. Examples of such sensors are disclosed in US 2007/0176165 A1,U.S. Pat. No. 6,995,445 B2, DE 2501124 A1, DE 3225372 A1, US2007/0176165 A1, WO 2009/013282 A1, WO 2012/110924 A1, WO 2014/097181A1, WO 2015/024871 A1, U.S. Pat. No. 4,767,211, WO 2014/198629 A1, WO2014/198626 A1, WO 2014/198629 A1 and WO 2014/198625 A1, the fullcontent of which is herewith included by reference. Further, referringto potential materials and optical sensors which may also be employed inthe context of the present invention, reference may be made to Europeanpatent applications EP 15 153 215.7, filed on Jan. 30, 2015, EP 15 157363.1, filed on Mar. 3, 2015, EP 15 164 653.6, filed on Apr. 22, 2015,EP 15177275.3, filed on Jul. 17, 2015, EP 15180354.1 and EP 15180353.3,both filed on Aug. 10, 2015, and EP 15 185 005.4, filed on Sep. 14,2015, EP 15 196 238.8 and EP 15 196 239.6, both filed on Nov. 25, 2015,EP 15 197 744.4, filed on Dec. 3, 2015, the full content of all of whichis herewith also included by reference.

Further, reference may be made to detector concepts comparing signals ofat least two different sources for determining a position of an object.Thus, as an example, reference may be made to EP 16155834.1, EP16155835.8 or EP 16155845.7, all filed on Feb. 16, 2016, the fulldisclosure of which is herewith included by reference. Further, P.Bartu, R. Koeppe, N. Arnold, A. Neulinger, L. Fallon, and S. Bauer,Conformable large-area position-sensitive photodetectors based onluminescence collecting silicone waveguides, J. Appl. Phys. 107, 123101(2010), describe a kind of position sensitive detector (PSD) devicewhich might be suitable for large areas and on curved surfaces.

For example, U.S. Pat. No. 5,323,222 A describes a distance measuringdevice contains a light-projecting section for projecting luminous fluxonto a subject. A light-receiving section is placed the base length awayfrom the light-projecting section, receives the reflected rays of lightfrom the subject, and produces a photoelectric current according to theamount of light received. The light-receiving section is divided into atleast four light-receiving elements by a first dividing line thatcrosses the base length at right angles and by a second dividing linethat crosses the first dividing line obliquely. A first ratiocalculating section calculates the ratio of the sum of the photoelectriccurrents generated by the light-receiving elements on one side of thefirst dividing line to the sum of the photoelectric currents produced bythe light-receiving elements on the other side. A second ratiocalculating section calculates the ratio of the sum of the photoelectriccurrents generated by the light-receiving elements on one side of thesecond dividing line to the sum of the photoelectric currents producedby the light-receiving elements on the other side. Adistance-determining section calculates the sum of the outputs of thefirst and second ratio calculating sections, and based on the resultingvalue, determines the distance from the device to the subject.

U.S. Pat. No. 4,675,517 A describes a photosensitive element havingfirst and second sensitive regions arranged to receive a light spot insuch a way that as the light spot lies astride the boundary therebetween, the ratio of the areas of the two parts of the spot light whichare received by the first and second sensitive regions, respectively,varies depending on the received position of the light spot, whereby thereceived position of the light spot is detected from the variation ofthe ratio of the outputs of the first and second sensitive regions,wherein an error of variation of the ratio of the outputs of the firstand second sensitive regions for the received position of the lightspot, which takes place when the diameter of the received spot light isso large as to overrun the first and second sensitive regions, iscorrected by providing a supplementary sensitive region surrounding thefirst or second sensitive region.

WO 2015/024871 A1 describes an optical detector. The optical detectorcomprising: —at least one spatial light modulator being adapted tomodify at least one property of a light beam in a spatially resolvedfashion, having a matrix of pixels, each pixel being controllable toindividually modify the at least one optical property of a portion ofthe light beam passing the pixel; —at least one optical sensor adaptedto detect the light beam after passing the matrix of pixels of thespatial light modulator and to generate at least one sensor signal; —atleast one modulator device adapted for periodically controlling at leasttwo of the pixels with different modulation frequencies; and —at leastone evaluation device adapted for performing a frequency analysis inorder to determine signal components of the sensor signal for themodulation frequencies.

However, determination of distance to an object using these knownmethods and devices depends on the object size. In particular, theoptical sensors may show a luminance dependency which renders theevaluation of the measurement result more difficult, and, additionally,may dependent on a target spot size. Dependency on object size mayresult in susceptibility of distance determination on manufacturingtolerances and environmental conditions. Furthermore, these methods anddevices require a large baseline, and thus, large dimensions in order toreach a reliable distance value.

Problem Addressed by the Invention

It is therefore an object of the present invention to provide devicesand methods facing the above-mentioned technical challenges of knowndevices and methods. Specifically, it is an object of the presentinvention to provide devices and methods which reliably may determine aposition of an object in space, preferably with a low technical effortand with low requirements in terms of technical resources and cost.

SUMMARY OF THE INVENTION

This problem is solved by the invention with the features of theindependent patent claims. Advantageous developments of the invention,which can be realized individually or in combination, are presented inthe dependent claims and/or in the following specification and detailedembodiments.

As used in the following, the terms “have”, “comprise” or “include” orany arbitrary grammatical variations thereof are used in a non-exclusiveway. Thus, these terms may both refer to a situation in which, besidesthe feature introduced by these terms, no further features are presentin the entity described in this context and to a situation in which oneor more further features are present. As an example, the expressions “Ahas B”, “A comprises B” and “A includes B” may both refer to a situationin which, besides B, no other element is present in A (i.e. a situationin which A solely and exclusively consists of B) and to a situation inwhich, besides B, one or more further elements are present in entity A,such as element C, elements C and D or even further elements.

Further, it shall be noted that the terms “at least one”, “one or more”or similar expressions indicating that a feature or element may bepresent once or more than once typically will be used only once whenintroducing the respective feature or element. In the following, in mostcases, when referring to the respective feature or element, theexpressions “at least one” or “one or more” will not be repeated,non-withstanding the fact that the respective feature or element may bepresent once or more than once.

Further, as used in the following, the terms “preferably”, “morepreferably”, “particularly”, “more particularly”, “specifically”, “morespecifically” or similar terms are used in conjunction with optionalfeatures, without restricting alternative possibilities. Thus, featuresintroduced by these terms are optional features and are not intended torestrict the scope of the claims in any way. The invention may, as theskilled person will recognize, be performed by using alternativefeatures. Similarly, features introduced by “in an embodiment of theinvention” or similar expressions are intended to be optional features,without any restriction regarding alternative embodiments of theinvention, without any restrictions regarding the scope of the inventionand without any restriction regarding the possibility of combining thefeatures introduced in such a way with other optional or non-optionalfeatures of the invention.

In a first aspect of the present invention a detector for determining aposition of at least one object is disclosed. As used herein, the term“object” refers to a point or region emitting at least one light beam.The light beam may originate from the object, such as by the objectand/or at least one illumination source integrated or attached to theobject emitting the light beam, or may originate from a differentillumination source, such as from an illumination source directly orindirectly illuminating the object, wherein the light beam is reflectedor scattered by the object. As used herein, the term “position” refersto at least one item of information regarding a location and/ororientation of the object and/or at least one part of the object inspace. Thus, the at least one item of information may imply at least onedistance between at least one point of the object and the at least onedetector. As will be outlined in further detail below, the distance maybe a longitudinal coordinate or may contribute to determining alongitudinal coordinate of the point of the object. Additionally oralternatively, one or more other items of information regarding thelocation and/or orientation of the object and/or at least one part ofthe object may be determined. As an example, additionally, at least onetransversal coordinate of the object and/or at least one part of theobject may be determined. Thus, the position of the object may imply atleast one longitudinal coordinate of the object and/or at least one partof the object. Additionally or alternatively, the position of the objectmay imply at least one transversal coordinate of the object and/or atleast one part of the object. Additionally or alternatively, theposition of the object may imply at least one orientation information ofthe object, indicating an orientation of the object in space.

The detector comprises:

-   -   at least one transfer device, wherein the transfer device has at        least one focal length in response to at least one incident        light beam propagating from the object to the detector;    -   at least two optical sensors, wherein each optical sensor has at        least one light sensitive area, wherein each optical sensor is        designed to generate at least one sensor signal in response to        an illumination of its respective light-sensitive area by the        light beam,    -   at least one evaluation device being configured for determining        at least one longitudinal coordinate z of the object by        evaluating a quotient signal Q from the sensor signals.

The detector may be adapted to determine the longitudinal coordinate zof the object in at least one measurement range independent from theobject size in an object plane.

As used herein, an “optical sensor” generally refers to alight-sensitive device for detecting a light beam, such as for detectingan illumination and/or a light spot generated by at least one lightbeam. As further used herein, a “light-sensitive area” generally refersto an area of the optical sensor which may be illuminated externally, bythe at least one light beam, in response to which illumination the atleast one sensor signal is generated. The light-sensitive area mayspecifically be located on a surface of the respective optical sensor.Other embodiments, however, are feasible. As used herein, the term “atleast two optical sensors each having at least one light sensitive area”refers to configurations with two single optical sensors each having onelight sensitive area and to configurations with one combined opticalsensor having at least two light sensitive areas. Thus, the term“optical sensor” furthermore refers to a light-sensitive deviceconfigured to generate one output signal, whereas, herein, alight-sensitive device configured to generate two or more outputsignals, for example at least one CCD and/or CMOS device, is referred toas two or more optical sensors. As will further be outlined in detailbelow, each optical sensor may be embodied such that precisely onelight-sensitive area is present in the respective optical sensor, suchas by providing precisely one light-sensitive area which may beilluminated, in response to which illumination precisely one uniformsensor signal is created for the whole optical sensor. Thus, eachoptical sensor may be a single area optical sensor. The use of thesingle area optical sensors, however, renders the setup of the detectorspecifically simple and efficient. Thus, as an example, commerciallyavailable photo-sensors, such as commercially available siliconphotodiodes, each having precisely one sensitive area, may be used inthe set-up. Other embodiments, however, are feasible. Thus, as anexample, an optical device comprising two, three, four or more than fourlight-sensitive areas may be used which is regarded as two, three, fouror more than four optical sensors in the context of the presentinvention. As an example, the optical device may comprise a matrix oflight-sensitive areas. Thus, as an example, the optical sensors may bepart of or constitute a pixelated optical device. As an example, theoptical sensors may be part of or constitute at least one CCD and/orCMOS device having a matrix of pixels, each pixel forming alight-sensitive area.

As further used herein, a “sensor signal” generally refers to a signalgenerated by an optical sensor in response to the illumination by thelight beam. Specifically, the sensor signal may be or may comprise atleast one electrical signal, such as at least one analogue electricalsignal and/or at least one digital electrical signal. More specifically,the sensor signal may be or may comprise at least one voltage signaland/or at least one current signal. More specifically, the sensor signalmay comprise at least one photocurrent. Further, either raw sensorsignals may be used, or the detector, the optical sensor or any otherelement may be adapted to process or preprocess the sensor signal,thereby generating secondary sensor signals, which may also be used assensor signals, such as preprocessing by filtering or the like.

The light-sensitive areas specifically may be oriented towards theobject. As used herein, the term “is oriented towards the object”generally refers to the situation that the respective surfaces of thelight-sensitive areas are fully or partially visible from the object.Specifically, at least one interconnecting line between at least onepoint of the object and at least one point of the respectivelight-sensitive area may form an angle with a surface element of thelight-sensitive area which is different from 0°, such as an angle in therange of 20° to 90°, preferably 80 to 90° such as 90°. Thus, when theobject is located on the optical axis or close to the optical axis, thelight beam propagating from the object towards the detector may beessentially parallel to an optical axis. As used herein, the term“essentially perpendicular” refers to the condition of a perpendicularorientation, with a tolerance of e.g. ±20° or less, preferably atolerance of ±10° or less, more preferably a tolerance of ±5° or less.Similarly, the term “essentially parallel” refers to the condition of aparallel orientation, with a tolerance of e.g. ±20° or less, preferablya tolerance of ±10° or less, more preferably a tolerance of ±5° or less.

The light beam may propagate from the object towards the detector. Aswill be outlined in further detail below, the light beam may originatefrom the object, such as by the object and/or at least one illuminationsource integrated or attached to the object emitting the light beam, ormay originate from a different illumination source, such as from anillumination source directly or indirectly illuminating the object,wherein the light beam is reflected or scattered by the object and,thereby, is at least partially directed towards the detector. Theillumination source, as an example, may be or may comprise one or moreof an external illumination source, an illumination source integratedinto the detector or an illumination source integrated into a beacondevice being one or more of attached to the object, integrated into theobject or held by the object. Thus, the detector may be used in activeand/or passive illumination scenarios. For example, the illuminationsource may be adapted to illuminate the object, for example, bydirecting a light beam towards the object, which reflects the lightbeam. Additionally or alternatively, the object may be adapted togenerate and/or to emit the at least one light beam. The light sourcemay be or may comprise at least one multiple beam light source. Forexample, the light source may comprise at least one laser source and oneor more diffractive optical elements (DOEs).

As used herein, the term “ray” generally refers to a line that isperpendicular to wavefronts of light which points in a direction ofenergy flow. As used herein, the term “beam” generally refers to acollection of rays. In the following, the terms “ray” and “beam” will beused as synonyms. As further used herein, the term “light beam”generally refers to an amount of light, specifically an amount of lighttraveling essentially in the same direction, including the possibilityof the light beam having a spreading angle or widening angle. The lightbeam may have a spatial extension. Specifically, the light beam may havea non-Gaussian beam profile. The beam profile may be selected from thegroup consisting of a trapezoid beam profile; a triangle beam profile; aconical beam profile. The trapezoid beam profile may have a plateauregion and at least one edge region. As used herein, the term “beamprofile” generally refers to a transverse intensity profile of the lightbeam. The light beam specifically may be a Gaussian light beam or alinear combination of Gaussian light beams, as will be outlined infurther detail below. Other embodiments are feasible, however. Thetransfer device may be configured for one or more of adjusting, definingand determining the beam profile, in particular a shape of the beamprofile.

The light beam may be a monochromatic light beam. The light beam maycomprise a narrow band of wavelengths, preferably the light beam maycomprise a single wavelength. The at least one light source may beadapted to generate at least one monochromatic light beam and/or thedetector may comprise at least one filter element adapted to filter anarrow band of wavelength, such as a monochromator.

The illumination source may be adapted to generate at least oneillumination pattern for illuminating the object. Additionally oralternatively, the illumination pattern may be generated by at least oneambient light source. The detector may be configured such that theillumination pattern propagates from the detector, in particular from atleast one opening of the housing, towards the object along and/orparallel to an optical axis of the detector. For this purpose, thedetector may comprise at least one reflective element, preferably atleast one prism, for deflecting the illumination pattern such that itpropagates along or parallel to the optical axis. Specifically, theillumination source may comprise at least one laser and/or laser source.Various types of lasers may be employed, such as semiconductor lasers.Additionally or alternatively, nonlaser light sources may be used, suchas LEDs and/or light bulbs. As used herein, the term “pattern” refers toan arbitrary known or pre-determined arrangement comprising at least onearbitrarily shaped feature. The pattern may comprise at least onefeature such as a point or symbol. The pattern may comprise a pluralityof features. The pattern may comprise an arrangement of periodic ornon-periodic features. As used herein, the term “illumination pattern”refers to a pattern which illuminates the object. The illuminationpattern may be generated by ambient light, such as by at least oneambient light source, or by the at least one illumination source. Theillumination pattern may comprise at least one pattern selected from thegroup consisting of: at least one point pattern, in particular apseudo-random point pattern, a random point pattern or a quasi randompattern; at least one Sobol pattern; at least one quasiperiodic pattern;at least one pattern comprising at least one pre-known feature; at leastone regular pattern; at least one triangular pattern; at least onehexagonal pattern; at least one rectangular pattern at least one patterncomprising convex uniform tilings; at least one line pattern comprisingat least one line; at least one line pattern comprising at least twolines such as parallel or crossing lines; at least one fringe pattern.For example, the illumination source may be adapted to generate and/orto project a cloud of points. The illumination pattern may compriseregular and/or constant and/or periodic pattern such as a triangularpattern, a rectangular pattern, a hexagonal pattern, or a patterncomprising further convex tilings. The illumination pattern may compriseas much as possible features per area such that a hexagonal pattern maybe preferred. A distance between two features of the illuminationpattern and/or an area of the at least one illumination feature maydepend on the circle of confusion in the image.

The illumination source may comprise one or more of at least one lightprojector; at least one digital light processing (DLP) projector, atleast one LCoS projector, at least one spatial light modulator; at leastone diffractive optical element; at least one array of light emittingdiodes; at least one array of laser light sources. The illuminationsource may comprise at least one light source adapted to generate theillumination pattern directly. For example, the illumination source maycomprise at least one laser source. For example, the illumination sourcemay comprise at least one line laser. The line laser may be adapted tosend a laser line to the object, for example a horizontal or verticallaser line. The illumination source may comprise a plurality of linelasers. For example, the illumination source may comprise at least twoline lasers which may be arranged such that the illumination patterncomprises at least two parallel or crossing lines. The illuminationsource may comprise the at least one light projector adapted to generatea cloud of points such that the illumination pattern may comprise aplurality of point pattern. The illumination source may comprise atleast one mask adapted to generate the illumination pattern from atleast one light beam generated by the illumination source. Theillumination source may be one of attached to or integrated into amobile device such as a smartphone. The illumination source may be usedfor further functions that may be used in determining an image such asfor an autofocus function. The illumination source may be attached to amobile device such as by using a connector such as a USB- orphone-connector such as the headphone jack.

The illumination source may be adapted to generate pulsed illumination.The illumination source may be adapted to generate at least one lightpulse. As used herein, the term “light pulse” or “pulsed illumination”refers to a light beam limited in time. The light pulse may have apredefined length or time duration, for example in the nanosecondsrange. For example, the illumination source may be adapted to generatepulses with a pulse length of less than a nanosecond, such as a tenth ofa nanosecond, up to a tenth of a second. The illumination source may beadapted to periodically generate the light pulse. For example, theillumination source may be adapted to generate the light pulse with afrequency of 10 Hz to 10 GHz.

The illumination source may be adapted to generate a pulsed light beam.For example, the illumination source may be adapted to generate acontinuous illumination light beam and the detector may comprise atleast one interruption device adapted to interrupt the illumination, inparticular periodically. The interruption device may comprise at leastone shutter and/or a beam chopper or some other type of mechanical orelectronical periodic beam interrupting device, for example comprisingat least one interrupter blade or interrupter wheel, which preferablyrotates at constant speed and which can thus periodically interrupt theillumination. By way of example, the at least one interruption devicecan also be wholly or partly integrated into the illumination source.Various possibilities are conceivable.

The optical sensors may be sensitive in one or more of the ultraviolet,the visible or the infrared spectral range. Specifically, the opticalsensors may be sensitive in the visible spectral range from 500 nm to780 nm, most preferably at 650 nm to 750 nm or at 690 nm to 700 nm.Specifically, the optical sensors may be sensitive in the near infraredregion. Specifically, the optical sensors may be sensitive in the partof the near infrared region where silicon photodiodes are applicablespecifically in the range of 700 nm to 1000 nm. The optical sensors,specifically, may be sensitive in the infrared spectral range,specifically in the range of 780 nm to 3.0 micrometers. For example, theoptical sensors each, independently, may be or may comprise at least oneelement selected from the group consisting of a photodiode, a photocell,a photoconductor, a phototransistor or any combination thereof. Forexample, the optical sensors may be or may comprise at least one elementselected from the group consisting of a CCD sensor element, a CMOSsensor element, a photodiode, a photocell, a photoconductor, aphototransistor or any combination thereof. Any other type ofphotosensitive element may be used. As will be outlined in furtherdetail below, the photosensitive element generally may fully orpartially be made of inorganic materials and/or may fully or partiallybe made of organic materials. Most commonly, as will be outlined infurther detail below, one or more photodiodes may be used, such ascommercially available photodiodes, e.g. inorganic semiconductorphotodiodes. As further used herein, the term “photosensitive element”generally refers to an element which is sensitive against illuminationin one or more of the ultraviolet, the visible or the infrared spectralrange. Specifically, the photosensitive element may be or may compriseat least one element selected from the group consisting of a photodiode,a photocell, a photoconductor, a phototransistor or any combinationthereof. Any other type of photosensitive element may be used.

In view of the technical challenges involved in the prior art documentsdiscussed above, specifically in view of the technical effort which isrequired for generating the so called FiP effect as described in WO2015/024871 it has to be noted that the present invention specificallymay be realized by using non-FiP optical sensors. In fact, since opticalsensors having the FiP characteristic typically exhibit a strong peak inthe respective sensor signals at a focal point, the range of measurementof a detector according to the present invention using FiP sensors asoptical sensors may be limited to a range in between the two positionsand which the first and second optical sensors are in focus of the lightbeam. When using linear optical sensors, however, i.e. optical sensorsnot exhibiting the FiP effect, this problem, with the setup of thepresent invention, generally may be avoided. Consequently, the first andsecond optical sensor may each have, at least within a range ofmeasurement, a linear signal characteristic such that the respectivefirst and second sensor signals may be dependent on the total power ofillumination of the respective optical sensor and may be independentfrom a diameter of a light spot of the illumination. It shall be noted,however, that other embodiments are feasible, too.

The first and second optical sensors each specifically may besemiconductor sensors, preferably inorganic semiconductor sensors, morepreferably photodiodes and most preferably silicon photodiodes. Thus, asopposed to complex and expensive FiP sensors, the present inventionsimply may be realized by using commercially available inorganicphotodiodes, i.e. one small photodiode and one large area photodiode.Thus, the setup of the present invention may be realized in a cheap andinexpensive fashion.

However, embodiments are feasible in which the detector may comprise atleast one FiP sensor adapted for generating the so called FiP effect asdescribed in WO 2015/024871, as will be outlined in detail below.

The detector may further comprise at least one illumination source forilluminating the object. As an example, the illumination source may beconfigured for generating an illuminating light beam for illuminatingthe object. The detector may be configured such that the illuminatinglight beam propagates from the detector towards the object along anoptical axis of the detector. For this purpose, the detector maycomprise at least one reflective element, preferably at least one prism,for deflecting the illuminating light beam onto the optical axis.

The illumination source, specifically, may be configured for emittinglight in the infrared spectral range. It shall be noted, however, thatother spectral ranges are feasible, additionally or alternatively.Further, the illumination source, as outlined above, specifically may beconfigured for emitting modulated or non-modulated light. In case aplurality of illumination sources is used, the different illuminationsources may have different modulation frequencies which, as outlined infurther detail below, later on may be used for distinguishing the lightbeams. The illumination source may be adapted to generate and/or toproject a cloud of points, for example the illumination source maycomprise one or more of at least one digital light processing (DLP)projector, at least one LCoS projector, at least one spatial lightmodulator; at least one diffractive optical element; at least one arrayof light emitting diodes; at least one array of laser light sources.

Specifically, the illumination source may comprise at least one laserand/or laser source. Various types of lasers may be employed, such assemiconductor lasers. Additionally or alternatively, non-laser lightsources may be used, such as LEDs and/or light bulbs. The illuminationsource may be adapted to generate and/or to project a cloud of points,for example the illumination source may comprise one or more of at leastone digital light processing (DLP) projector, at least one LCoSprojector, at least one spatial light modulator; at least onediffractive optical element; at least one array of light emittingdiodes; at least one array of laser light sources. The illuminationsource and the optical sensors may be arranged in a common plane or indifferent planes. The illumination source and the optical sensors mayhave different spatial orientation. In particular, the illuminationsource and the optical sensors may be arranged in a twisted arrangement.

The illuminating light beam generally may be parallel to the opticalaxis or tilted with respect to the optical axis, e.g. including an anglewith the optical axis. As an example, the illuminating light beam, suchas the laser light beam, and the optical axis may include an angle ofless than 10°, preferably less than 5° or even less than 2°. Otherembodiments, however, are feasible. Further, the illuminating light beammay be on the optical axis or off the optical axis. As an example, theilluminating light beam may be parallel to the optical axis having adistance of less than 10 mm to the optical axis, preferably less than 5mm to the optical axis or even less than 1 mm to the optical axis or mayeven coincide with the optical axis.

The detector comprises at least one transfer device. The term “transferdevice”, also denoted as “transfer system”, may generally refer to oneor more optical elements which are adapted to modify the light beam,such as by modifying one or more of a beam parameter of the light beam,a width of the light beam or a direction of the light beam. The transferdevice may be adapted to guide the light beam onto the optical sensors.The transfer device specifically may comprise one or more of: at leastone lens, for example at least one lens selected from the groupconsisting of at least one focus-tunable lens, at least one asphericlens, at least one spheric lens, at least one Fresnel lens; at least oneaspheric lens; at least one diffractive optical element; at least oneconcave mirror; at least one beam deflection element, preferably atleast one mirror; at least one beam splitting element, preferably atleast one of a beam splitting cube or a beam splitting mirror; at leastone multi-lens system.

As used herein, the term “focal length” of the transfer device refers toa distance over which incident collimated rays which may impinge thetransfer device are brought into a “focus” which may also be denoted as“focal point”. Thus, the focal length constitutes a measure of anability of the transfer device to converge an impinging light beam.Thus, the transfer device may comprise one or more imaging elementswhich can have the effect of a converging lens. By way of example, thetransfer device can have one or more lenses, in particular one or morerefractive lenses, and/or one or more convex mirrors. In this example,the focal length may be defined as a distance from the center of thethin refractive lens to the principal focal points of the thin lens. Fora converging thin refractive lens, such as a convex or biconvex thinlens, the focal length may be considered as being positive and mayprovide the distance at which a beam of collimated light impinging thethin lens as the transfer device may be focused into a single spot.Additionally, the transfer device can comprise at least onewavelength-selective element, for example at least one optical filter.Additionally, the transfer device can be designed to impress apredefined beam profile on the electromagnetic radiation, for example,at the location of the sensor region and in particular the sensor area.The abovementioned optional embodiments of the transfer device can, inprinciple, be realized individually or in any desired combination.

The transfer device may have an optical axis. In particular, thedetector and the transfer device have a common optical axis. As usedherein, the term “optical axis of the transfer device” generally refersto an axis of mirror symmetry or rotational symmetry of the lens or lenssystem. The optical axis of the detector may be a line of symmetry ofthe optical setup of the detector. The detector comprises at least onetransfer device, preferably at least one transfer system having at leastone lens. The transfer system, as an example, may comprise at least onebeam path, with the elements of the transfer system in the beam pathbeing located in a rotationally symmetrical fashion with respect to theoptical axis. Still, as will also be outlined in further detail below,one or more optical elements located within the beam path may also beoff-centered or tilted with respect to the optical axis. In this case,however, the optical axis may be defined sequentially, such as byinterconnecting the centers of the optical elements in the beam path,e.g. by interconnecting the centers of the lenses, wherein, in thiscontext, the optical sensors are not counted as optical elements. Theoptical axis generally may denote the beam path. Therein, the detectormay have a single beam path along which a light beam may travel from theobject to the optical sensors, or may have a plurality of beam paths. Asan example, a single beam path may be given or the beam path may besplit into two or more partial beam paths. In the latter case, eachpartial beam path may have its own optical axis and the condition notedabove generally may refer to each beam path independently. The opticalsensors may be located in one and the same beam path or partial beampath. Alternatively, however, the optical sensors may also be located indifferent partial beam paths. In case the optical sensors aredistributed over different partial beam paths, the above-mentionedcondition may be described such that at least one first optical sensoris located in at least one first partial beam path, being offset fromthe optical axis of the first partial beam path by a first spatialoffset, and at least one second optical sensor is located in at leastone second partial beam path, being offset from the optical axis of thesecond partial beam path by at least one second spatial offset, whereinthe first spatial offset and the second spatial offset are different.

The transfer device may constitute a coordinate system, wherein alongitudinal coordinate I is a coordinate along the optical axis andwherein d is a spatial offset from the optical axis. The coordinatesystem may be a polar coordinate system in which the optical axis of thetransfer device forms a z-axis and in which a distance from the z-axisand a polar angle may be used as additional coordinates. A directionparallel or antiparallel to the z-axis may be considered a longitudinaldirection, and a coordinate along the z-axis may be considered alongitudinal coordinate I. Any direction perpendicular to the z-axis maybe considered a transversal direction, and the polar coordinate and/orthe polar angle may be considered a transversal coordinate.

The optical sensors may be positioned off focus. As used herein, theterm “focus” generally refers to one or both of a minimum extend of acircle of confusion of the light beam, in particular of at least onelight beam emitted from one point of the object, caused by the transferdevice or a focal length of the transfer device. As used herein, theterm “circle of confusion” refers to a light spot caused by a cone oflight rays of the light beam focused by the transfer device. The circleof confusion may depend on a focal length f of the transfer device, alongitudinal distance from the object to the transfer device, a diameterof an exit pupil of the transfer device, a longitudinal distance fromthe transfer device to the light sensitive area, a distance from thetransfer device to an image of the object. For example, for Gaussianbeams, a diameter of the circle of confusion may be a width of theGaussian beam. In particular, for a point like object situated or placedat infinite distance from the detector the transfer device may beadapted to focus the light beam from the object into a focus point atthe focal length of the transfer device. For non-point like objectssituated or placed at infinite distance from the detector the transferdevice may be adapted to focus the light beam from at least one point ofthe object into a focus plane at the focal length of the transferdevice. For point like objects not situated or placed at infinitedistance from the detector, the circle of confusion may have a minimumextend at least at one longitudinal coordinate. For non-point likeobjects not situated or placed at infinite distance from the detector,the circle of confusion of the light beam from at least one point of theobject may have a minimum extend at least at one longitudinalcoordinate. As used herein, the term “positioned off focus” generallyrefers to a position other than the minimum extent of a circle ofconfusion of the light beam caused by the transfer device or a focallength of the transfer device. In particular, the focal point or minimumextend of the circle of confusion may be at a longitudinal coordinateI_(focus), whereas the position of each of the optical sensors may havea longitudinal coordinate I_(sensor) different from I_(focus). Forexample, the longitudinal coordinate I_(sensor) may be, in alongitudinal direction, arranged closer to the position of the transferdevice than the longitudinal coordinate I_(focus) or may be arrangedfurther away from the position of the transfer device than thelongitudinal coordinate I_(focus). Thus, the longitudinal coordinateI_(sensor) and the longitudinal coordinate I_(focus) may be situated atdifferent distances from the transfer device. For example, the opticalsensors may be spaced apart from the minimum extend of the circle ofconfusion in longitudinal direction by ±2% of focal length, preferablyby ±10% of focal length, most preferably ±20% of focal length. Forexample, at a focal length of the transfer device may be 20 mm and thelongitudinal coordinate I_(sensor) may be 19.5 mm, i.e. the sensors maybe positioned at 97.5% focal length, such that I_(sensor) is spacedapart from the focus by 2.5% of focal length. The optical sensors may bearranged such that the light-sensitive areas of the optical sensorsdiffer in at least one of: their longitudinal coordinate, their spatialoffset, or their surface areas.

Each light-sensitive area may have a geometrical center. As used herein,the term “geometrical center” of an area generally may refer to a centerof gravity of the area. As an example, if an arbitrary point inside oroutside the area is chosen, and if an integral is formed over thevectors interconnecting this arbitrary point with each and every pointof the area, the integral is a function of the position of the arbitrarypoint. When the arbitrary point is located in the geometrical center ofthe area, the integral of the absolute value of the integral isminimized. Thus, in other words, the geometrical center may be a pointinside or outside the area with a minimum overall or sum distance fromall points of the area.

For example, each geometrical center of each light-sensitive area may bearranged at a longitudinal coordinate I_(center,i), wherein i denotesthe number of the respective optical sensor. In the case of the detectorcomprising precisely two optical sensors and in the case of the detectorcomprising more than two optical sensors, the optical sensors maycomprise at least one first optical sensor, wherein the first opticalsensor, in particular the geometrical center, being arranged at a firstlongitudinal coordinate I_(center,1), and at least one second opticalsensor, wherein the second optical sensor, in particular the geometricalcenter, being at a second longitudinal coordinate I_(center,2), whereinthe first longitudinal coordinate and the second longitudinal coordinatediffer. For example, the first optical sensor and the second opticalsensor may be located in different planes which are offset in adirection of the optical axis. The first optical sensor may be arrangedin front of the second optical sensor. Thus, as an example, the firstoptical sensor may simply be placed on the surface of the second opticalsensor. Additionally or alternatively, the first optical sensor may bespaced apart from the second optical sensor, for example, by no morethan five times the square root of a surface area of the firstlight-sensitive area. Additionally or alternatively, the first opticalsensor may be arranged in front of the second optical sensor and may bespaced apart from the second optical sensor by no more than 50 mm,preferably by no more than 15 mm. Relative distance of the first opticalsensor and second optical sensor may depend, for example, on focallength or object distance.

The longitudinal coordinates of the optical sensors may also beidentical, as long as one of the above-mentioned conditions isfulfilled. For example, the longitudinal coordinates of the opticalsensors may be identical, but the light-sensitive areas may be spacedapart from the optical axis and/or the surface areas differ.

Each geometrical center of each light-sensitive area may be spaced apartfrom the optical axis of the transfer device, such as the optical axisof the beam path or the respective beam path in which the respectiveoptical sensor is located. The distance, in particular in transversaldirection, between the geometrical center and the optical axis isdenoted by the term “spatial offset” In the case of the detectorcomprising precisely two optical sensors and in the case of the detectorcomprising more than two optical sensors, the optical sensors maycomprise at least one first optical sensor being spaced apart from theoptical axis by a first spatial offset and at least one second opticalsensor being spaced apart from the optical axis by a second spatialoffset, wherein the first spatial offset and the second spatial offsetdiffer. The first and second spatial offsets, as an example, may differby at least a factor of 1.2, more preferably by at least a factor of1.5, more preferably by at least a factor of two. The spatial offsetsmay also be zero or may assume negative values, as long as one of theabove-mentioned conditions is fulfilled.

As used herein, the term “surface area” generally refers to both of ashape and a content of at least one light-sensitive area. In the case ofthe detector comprising precisely two optical sensors and in the case ofthe detector comprising more than two optical sensors, the opticalsensors may comprise at least one first optical sensor having a firstsurface area and at least one second optical sensor having a secondsurface area. In the case of the detector comprising more than twooptical sensors, e.g. a sensor element comprising a matrix of opticalsensors, a first group of optical sensors or at least one of the opticalsensors of the matrix may form a first surface area, wherein a secondgroup of optical sensors or at least one other optical sensor of thematrix may form a second surface area. The first surface area and thesecond surface area may differ. In particular, the first surface areaand the second surface area are not congruent. Thus, the surface area ofthe first optical sensor and the second optical sensor may differ in oneor more of the shape or content. For example, the first surface area maybe smaller than the second surface area. As an example, both the firstsurface area and the second surface area may have the shape of a squareor of a rectangle, wherein side lengths of the square or rectangle ofthe first surface area are smaller than corresponding side lengths ofthe square or rectangle of the second surface area. Alternatively, as anexample, both the first surface area and the second surface area mayhave the shape of a circle, wherein a diameter of the first surface areais smaller than a diameter of the second surface area. Again,alternatively, as an example, the first surface area may have a firstequivalent diameter, and the second surface area may have a secondequivalent diameter, wherein the first equivalent diameter is smallerthan the second equivalent diameter. The surface areas may be congruent,as long as one of the above-mentioned conditions is fulfilled.

The optical sensors, in particular the light-sensitive areas, mayoverlap or may be arranged such that no overlap between the opticalsensors is given.

As further used herein, the term “evaluation device” generally refers toan arbitrary device adapted to perform the named operations, preferablyby using at least one data processing device and, more preferably, byusing at least one processor and/or at least one application-specificintegrated circuit. Thus, as an example, the at least one evaluationdevice may comprise at least one data processing device having asoftware code stored thereon comprising a number of computer commands.The evaluation device may provide one or more hardware elements forperforming one or more of the named operations and/or may provide one ormore processors with software running thereon for performing one or moreof the named operations.

The above-mentioned operations, including determining the at least onelongitudinal coordinate of the object, are performed by the at least oneevaluation device. Thus, as an example, one or more of theabove-mentioned relationships may be implemented in software and/orhardware, such as by implementing one or more lookup tables. Thus, as anexample, the evaluation device may comprise one or more programmabledevices such as one or more computers, application-specific integratedcircuits (ASICs), Field Programmable Gate Arrays (FPGAs), or digitalsignal processors (DSPs) which are configured to perform theabove-mentioned evaluation, in order to determine the at least onelongitudinal coordinate of the object. Additionally or alternatively,however, the evaluation device may also fully or partially be embodiedby hardware.

The evaluation device is configured for determining at least onelongitudinal coordinate z of the object by evaluating a quotient signalQ of the sensor signals As used herein, the term “quotient signal Q”refers to a signal which is generated by combining the sensor signals,in particular by one or more of dividing the sensor signals, dividingmultiples of the sensor signals or dividing linear combinations of thesensor signals. In the following, the quotient signal is also denoted ascombined signal or combined sensor signal.

The object size may be a priori unknown. An object image size, i.e. thesize of the object in the image plane, may be distance dependent.However, different materials may have different scattering propertiessuch that deviations from Lambertian distribution may occur. Inparticular, a luminance dependence may deviate significantly from a1/z². In addition, due type of scattering and/or due to reflectiveproperties and/or scattering properties of the object, for exampledepending on a material of the object, the object image size, inparticular diameter of the spot, may vary. Thus, methods and devicesusing the spot size, for example by counting pixels, or absolute photonnumbers for distance determination may be not suitable and may requirecalibrations depending on the material of the object. Methods anddevices adapted for determination of the distance independently from theobject size are necessary in order to allow robust distancedetermination for any materials with one calibration, only. Further, theobject size may be altered by the light source itself. For example, theproperties of the optics may be altered by one or more of dirt,raindrops, scratches or manufacturing precision of the light sourceand/or its optics. Thus, the light beam emitted by the light source maybe changed in one or more of its properties such as diameter, beamprofile, divergence or the like. Thus, methods and devices adapted fordetermination of the distance independently from the object size arenecessary in order to allow robust distance determination for highermanufacturing tolerances or harsher environmental conditions or the likewith one calibration, only. Further, object size may be altereddepending on temperature as the optical properties of the detector andor the light source may change such as due to a temperature dependentchange of the distance between emitter and optics of the light source ordue to a temperature dependent change of the distance between sensor andoptics of the detector or due to a temperature dependent change of therefracting properties of the lens or the like. Object size independenceis, thus, important for measurements with little or no a prioriknowledge on one or more of the measured object, the measurementenvironment, the temperature of the detector and its environment, themanufacturing quality of the sensor and/or the light source. Further,object size independence is, thus, important for measurements thatrequire high flexibility concerning one or more of the measured object,the measurement environment, the temperature of the detector and itsenvironment, the manufacturing quality of the sensor and/or the lightsource. Further, object size independence is important, when divergingor converging illumination light beams shall be used, such as whendiverging or converging laser light beams are used where the size of theilluminated spot changes with distance. Further, object sizeindependence is, thus, important for measurements that require a highrobustness in one or more of measurement quality independent of themeasured object, the measurement environment, the temperature of thedetector and its environment, the manufacturing quality of the sensorand/or the light source.

Known 3D sensing methods are dependent on the object size. For exampleU.S. Pat. Nos. 4,675,517 and 5,323,222 describe devices and methodsexhibiting dependence on object size. Specifically, U.S. Pat. No.4,675,517 describes with respect to FIGS. 3A to 3C, column 2, line 16that the distance information changes with spot size. In particular, itis described that in actual practice, with the use of such a system, asthe diameter of the image of the reflection of the projected image spotP changes at random, or the optical position deviates, the definedobject distance boundaries are caused to shift largely. In particular,problems due to too large spot sizes are addressed. In case the spotsize is too large, the sensor is outshined and the resulting ratio iswrong. U.S. Pat. No. 4,675,517 describes to correct this spot sizedependence by enlarging the sensor area. However, the spot sizedependence is not eliminated. In particular, problems due to too smallspot sizes are not addressed. Furthermore, specifically, U.S. Pat. No.5,323,222 describes that the ratio used for determining the distancedepends on a chip size of the light source. In particular, in column 2,line 11 it is outlined that solid lines I1 and I2 in FIG. 14A show therelationship between the reciprocal of the distance a and thecalculation output I1/(I1+I2) for the light-projecting chip sizes t1 andt2 (t1<t2), respectively. Furthermore, it is described that if thedistance between the projection lens and light emitting element is fT,the base length L, and the chip size of the light emitting element t,then the distance measuring range S will be: S=∞through fT*L/t. However,U.S. Pat. No. 5,323,222 does not further address eliminating impact ofobject size dependence.

As used herein, the term “object size”, generally refers to a size ofthe object in an object plane, in particular to the size of a spotand/or region and/or the entire object emitting the at least one lightbeam. As further used herein, the terms “independent from the objectsize” and “object size independence” refer to the fact that variationsof the object size do not influence the determination of thelongitudinal coordinate z. As will be outlined in detail below, thequotient signal Q may be used for determining the longitudinalcoordinate. Thus, object size independence furthermore refers to thefact that the quotient signal is essentially independent from the objectsize such that, in case of identical object distance, a first quotientsignal determined at a first object size and a second quotient signaldetermined at a different object size are identical, with a tolerance of±20% or less, preferably a tolerance of ±10% or less, more preferably atolerance of ±5% or less. Requirement or condition of object sizeindependence can be stated as follows: the circle of confusion of atleast one light beam emitted from at least one point of the object isgreater than an image size of the object, i.e. a size of the object inan image plane. The detector may be adapted to determine thelongitudinal coordinate z of the object independent from the object sizeif the circle of confusion of the at least one light beam emitted fromthe at least one point of the object is greater than an image size ofthe object. This condition may be calculated by

${O_{size} < {\frac{z_{0}E_{x}}{z_{i}^{2}}{{z_{s} - z_{i}}}}},$wherein z₀ is a longitudinal distance from the object to the transferdevice; E_(x) is a diameter of an exit pupil of the transfer device;z_(s) is a longitudinal distance from the transfer device to the lightsensitive area, z_(i) is a distance from the transfer device to an imageof the object; O_(size) is an object size of the object in the objectplane. As used herein, the term “diameter of an exit pupil” refers to anaperture of the transfer device. Given a measurement range the conditioncan be fulfilled by for example varying the sensor position, thediameter of the exit pupil or the image of the object, for example byvarying the focal length. The detector may be adapted to determine thelongitudinal coordinate z of the object independent from the object sizeif

$O_{size} < {\frac{z_{0}E_{x}}{z_{i}^{2}}{{z_{s} - z_{i}}}}$holds true for at least one distance z₀. For example, the detector maybe adapted to determine the longitudinal coordinate z at the at leastone distance z₀ if the object size varies and/or changes within a largerange, e.g. by more than 100% of the object size. The detector may beadapted to determine the longitudinal coordinate z at distances, atwhich the above-mentioned condition

$O_{size} < {\frac{z_{0}E_{x}}{z_{i}^{2}}{{z_{s} - z_{i}}}}$is fulfilled only weakly, if the object size varies and/or changeswithin a smaller range, in particular if the object size varies and/orchanges by ±20% or less, preferably by ±10% or less, more preferably by±5% or less. The detector may be adapted to determine the longitudinalcoordinate z over the whole measurement range if

$O_{size} < {\frac{z_{0}E_{x}}{z_{i}^{2}}{{z_{s} - z_{i}}}}$holds true for the at least one distance z₀ and if the object size andif the object size varies and/or changes by ±20% or less, preferably by±10% or less, more preferably by ±5% or less. As used herein, the term“holds true for at least one distance” refers to that at the at leastone distance the longitudinal coordinate z may be determined independentfrom the object size and that the detector is adapted to determine thelongitudinal coordinate z at other distances, in particular within thewhole or entire measurement range, if the object size varies and/orchanges by ±20% or less, preferably by ±10% or less, more preferably by±5% or less.

As used herein, the term “measurement range” generally refers to anarbitrary range in which the determination of the longitudinalcoordinate z is performed. The measurement range may be adjustable byadjusting one or more parameters selected from the group consisting of:the longitudinal distance from the object to the transfer device z₀; thefocal length of the transfer device f; the diameter of the exit pupil ofthe transfer device E_(x); the longitudinal distance from the transferdevice to the light sensitive area z_(s), the distance from the transferdevice to an image of the object z_(i); the object size O_(size) of theobject in the object plane. For example, if the object size does notexceed an object-size limit, a unique relation of the quotient signal Qto the longitudinal distance from the object to the transfer deviceexists. The object-size limit may depend on the longitudinal distancefrom the transfer device to the light sensitive area, the longitudinaldistance from the object to the transfer device, and an F-number of thetransfer device F#, i.e. a ratio of the focal length of the transferdevice and the diameter of an exit pupil of the transfer device. Forexample, the measurement range may be adapted by selecting and/orchoosing one or more of the longitudinal distance from the transferdevice to the light sensitive area z_(s), the distance from the transferdevice to an image of the object z_(i), the longitudinal distance fromthe transfer device to the light sensitive area, the focal length andthe F-number of the transfer device. For example, the focal lengthand/or F-number may be adjusted by using a zoom objective. Inparticular, the focal length may be between 10 and 200 mm, preferablybetween 20 and 150 mm. The F-number may be between 1 and 10, preferablybetween 1.5 and 6. The longitudinal distance from the transfer devicemay be as short as possible. The longitudinal distance from the transferdevice to the light sensitive area may be between 0 and 200 mm,preferably between 20 and 50 mm. For a given system setup (f, F#, z_(s))a unique value of the object-size limit can be calculated. For example,in case the focal length is 3.5 mm and the F-number is 2.0, the objectsize may be smaller than 1.75 mm. Preferably a lower object size limitmay be 0.5 μm or more, more preferably 1 μm or more and most preferably10 μm or more. The lower object size limit refers to a minimum objectsize using an active measurement system, in particular to a laser spotsize.

The evaluation device may be configured for deriving the quotient signalQ by one or more of dividing the sensor signals, dividing multiples ofthe sensor signals, dividing linear combinations of the sensor signals.The evaluation device may be configured for using at least onepredetermined relationship between the quotient signal Q and thelongitudinal coordinate for determining the longitudinal coordinate. Forexample, the evaluation device is configured for deriving the quotientsignal Q by

${Q\left( z_{O} \right)} = \frac{\underset{A_{1}}{\int\int}{E\left( {x,{y;z_{O}}} \right)}{dxdy}}{\underset{A_{2}}{\int\int}{E\left( {x,{y;z_{O}}} \right)}{dxdy}}$wherein x and y are transversal coordinates, A1 and A2 are areas of thebeam profile at the sensor position, and E(x,y,z_(o)) denotes the beamprofile given at the object distance z_(o). Area A1 and area A2 maydiffer. In particular, A1 and A2 are not congruent. Thus, A1 and A2 maydiffer in one or more of the shape or content. As used herein, the term“beam profile” relates to a spatial distribution, in particular in atleast one plane perpendicular to the propagation of the light beam, ofan intensity of the light beam. The beam profile may be a cross sectionof the light beam. The beam profile may be selected from the groupconsisting of a trapezoid beam profile; a triangle beam profile; aconical beam profile and a linear combination of Gaussian beam profiles.Generally the beam profile is dependent on luminance L(z_(o)) and beamshape S(x,y;z_(o)), E(x, y; zo)=L·S. Thus, by deriving the quotientsignal it may allow determining the longitudinal coordinate independentfrom luminance. In addition, using the quotient signal allowsdetermination of the distance z_(o) independent from the object size.Thus, the quotient signal allows determination of the distance z_(o)independent from the material properties and/or reflective propertiesand/or scattering properties of the object and independent fromalterations of the light source such as by manufacturing precision,heat, water, dirt, damages on the lens, or the like. Furthermore, evenat very large spot sizes, for example at an outshining, reliabledetermination of the longitudinal coordinate of the object may bepossible.

Each of the sensor signals may comprise at least one information of atleast one area of the beam profile of the light beam. As used herein,the term “area of the beam profile” generally refers to an arbitraryregion of the beam profile at the sensor position used for determiningthe quotient signal Q. The light-sensitive regions may be arranged suchthat a first sensor signal comprises information of a first area of thebeam profile and a second sensor signal comprises information of asecond area of the beam profile. The first area of the beam profile andsecond area of the beam profile may be one or both of adjacent oroverlapping regions. The first area of the beam profile and the secondarea of the beam profile may be not congruent in area.

The evaluation device may be configured to determine and/or to selectthe first area of the beam profile and the second area of the beamprofile. The first area of the beam profile may comprise essentiallyedge information of the beam profile and the second area of the beamprofile may comprise essentially center information of the beam profile.The beam profile may have a center, i.e. a maximum value of the beamprofile and/or a center point of a plateau of the beam profile and/or ageometrical center of the light spot, and falling edges extending fromthe center. The second region may comprise inner regions of the crosssection and the first region may comprise outer regions of the crosssection. As used herein, the term “essentially center information”generally refers to a low proportion of edge information, i.e.proportion of the intensity distribution corresponding to edges,compared to a proportion of the center information, i.e. proportion ofthe intensity distribution corresponding to the center. Preferably thecenter information has a proportion of edge information of less than10%, more preferably of less than 5%, most preferably the centerinformation comprises no edge content. As used herein, the term“essentially edge information” generally refers to a low proportion ofcenter information compared to a proportion of the edge information. Theedge information may comprise information of the whole beam profile, inparticular from center and edge regions. The edge information may have aproportion of center information of less than 10%, preferably of lessthan 5%, more preferably the edge information comprises no centercontent. At least one area of the beam profile may be determined and/orselected as second area of the beam profile if it is close or around thecenter and comprises essentially center information. At least one areaof the beam profile may be determined and/or selected as first area ofthe beam profile if it comprises at least parts of the falling edges ofthe cross section. For example, the whole area of the cross section maybe determined as first region. The first area of the beam profile may bearea A2 and the second area of the beam profile may be area A1.

Other selections of the first area A1 and second area A2 may befeasible. For example, the first area may comprise essentially outerregions of the beam profile and the second area may comprise essentiallyinner regions of the beam profile. For example, the center signal may bea signal corresponding to a rectangular stripe comprising the center ofthe light spot. The evaluation device may be adapted to form a quotientof a first linear combination of the center signal and the sum signaland a second linear combination of the center signal and the sum signal.In particular, in case of a two-dimensional beam profile, the beamprofile may be divided in a left part and a right part, wherein thefirst area may comprise essentially areas of the left part of the beamprofile and the second area may comprise essentially areas of the rightpart of the beam profile. The first and the second area, as an example,may be adjacent, with a minimum separation from one another. However,the separation between adjacent areas may also be varied such asenlarged to improve the dynamic range of the quotient signal. As anexample, the separation between two adjacent areas may be increased bynot evaluating the area between the first and the second area. This mayreduce the light on one of the areas relative and/or absolute ascompared to the adjacent area which will may increase a quotient of thesignal of the two areas. Further, one or both of the areas may consistof separated subareas which may be adjacent to each other and/or whichmay be separated by areas that are not evaluated and/or which may beevaluated as part of a different quotient. Further, the first and thesecond area may consist of a linear combination of subareas, whereas thesignal contributed by each subarea may be weighted differently whenforming the center signal and/or the sum signal. This may further bebeneficial for increasing the dynamic range of the quotient system.

The extent of the circle of confusion may be larger than the extent ofthe optical sensor. For example, the optical sensor may be positioned assuch that the circle of confusion extends beyond the optical sensor. Theoptical sensor may thus only partially evaluate the beam profile of thelight beam. The evaluation device may be adapted to extrapolate a beamprofile such as due to symmetry considerations or due to comparing thepartial beam profile to prerecorded beam profiles or the like. Further,the evaluation device may be adapted to evaluate a partial sum signaland a partial center signal of a partial beam profile and convert itinto a sum signal and a center signal of an extrapolated and/or fittedand/or prerecorded beam profile or the like.

The edge information may comprise information relating to a number ofphotons in the first area of the beam profile and the center informationmay comprise information relating to a number of photons in the secondarea of the beam profile. The evaluation device may be adapted fordetermining an area integral of the beam profile. The evaluation devicemay be adapted to determine the edge information by integrating and/orsumming of the first area. The evaluation device may be adapted todetermine the center information by integrating and/or summing of thesecond area. For example, the beam profile may be a trapezoid beamprofile and the evaluation device may be adapted to determine anintegral of the trapezoid. Further, when trapezoid beam profiles may beassumed, the determination of edge and center signals may be replaced byequivalent evaluations making use of properties of the trapezoid beamprofile such as determination of the slope and position of the edges andof the height of the central plateau and deriving edge and centersignals by geometric considerations.

Additionally or alternatively, the evaluation device may be adapted todetermine one or both of center information or edge information from atleast one slice or cut of the light spot. This may be realized, forexample, by replacing the area integrals in the quotient signal Q by aline integrals along the slice or cut. For improved accuracy, severalslices or cuts through the light spot may be used and averaged. In caseof an elliptical spot profile, averaging over several slices or cuts mayresult in an improved distance information.

The evaluation device may be configured to derive the quotient signal Qby one or more of dividing the edge information and the centerinformation, dividing multiples of the edge information and the centerinformation, dividing linear combinations of the edge information andthe center information. Thus, essentially, photon ratios may be used asthe physical basis of the method.

The detector may be adapted to determine depth information, inparticular absolute depth information, from a radiance ratio of at leasttwo asymmetric regions of a light beam profile on the at least twooptical sensors. For example, the detector may comprise a plurality ofoptical sensors arranged in a matrix. The detector may be adapted todetermine depth information from a radiance ratio of at least twoasymmetric regions within an enclosed, in particular, a defocused beamprofile captured by a single matrix of optical sensors such as a CMOSdetector. In particular, the detector may be adapted to determine thedepth information using the radiance ratio independent of a certainobject size range. This principle is called Distance by Photon Ratio(DPR).

The DPR principle can be applied, for example, to many sub-regionswithin a segmented image profile, such as a segmented image of at leastone feature generated by the at least one light beam on the matrix ofoptical sensors, which is demonstrated hereafter. The quotient Q_(A)(z)in the two-dimensional case can be written as

${{Q_{A}(z)} = \frac{\int{\int_{- r_{out}}^{r_{out}}{{P\left( {x,y,z} \right)}{dxdy}}}}{\int{\int_{- r_{i\; n}}^{r_{i\; n}}{{P\left( {x,y,z} \right)}{dxdy}}}}},$where P(x, y, z) is a two-dimensional beam profile and r_(in) andr_(out) are inner and outer circle radii, respectively. Forline-segmented quotients Q_(y)(z) along the y-dimension, this can berewritten as

${{Q_{y}(z)} = \frac{\int_{- r_{out}}^{r_{out}}{{P\left( {x,z} \right)}{dx}}}{\int_{- r_{i\; n}}^{r_{i\; n}}{{P\left( {x,z} \right)}{dx}}}},$

Without wishing to be bound by this theory, the overall defocused beamprofile P(x, z) can be regarded as a superposition of defocused imagepoint profiles p(x, z) along the image width b(x, z). This relationshipcan be modelled as a convolution given byP(x,=b(x,*p(x,z),wherein p(x, z) represents the Point-Spread-Function (PSF) of a lens indefocus, which in the field of paraxial optics is also known as Circleof Confusion (CoC). By inserting P(x, z) into Q_(y)(z) the abovedescribed quotient Q_(y)(z) can be rewritten as

$\begin{matrix}{{Q_{y}(z)} = \frac{\int_{- r_{out}}^{r_{out}}{{b\left( {x,z} \right)}*{p\left( {x,z} \right)}{dx}}}{\int_{- r_{i\; n}}^{r_{i\; n}}{{b\left( {x,z} \right)}*{p\left( {x,z} \right)}{dx}}}} \\{= {\frac{\int_{- r_{out}}^{r_{out}}{{b\left( {x,z} \right)}{{dx} \cdot {\int_{- r_{out}}^{r_{out}}{{p\left( {x,z} \right)}{dx}}}}}}{\int_{- r_{i\; n}}^{r_{in}}{{b\left( {x,z} \right)}{{dx} \cdot {\int_{- r_{i\; n}}^{r_{\;{i\; n}}}{{p\left( {x,z} \right)}{dx}}}}}}.}}\end{matrix}$

The CoC radius may be r_(c) and r_(o) may be an image spot radius of thefeature on the matrix of optical sensors, then r_(out)=r_(c)+r_(o)r_(out)≥r_(c) and r_(out)≥r_(o), which yields to

${Q_{y}(z)} = {\frac{\int_{- r_{o}}^{r_{o}}{{b\left( {x,z} \right)}{{dx} \cdot {\int_{- r_{c}}^{r_{c}}{{p\left( {x,z} \right)}{dx}}}}}}{\int_{- r_{i\; n}}^{r_{i\; n}}{{b\left( {x,z} \right)}{{dx} \cdot {\int_{- r_{i\; n}}^{r_{i\; n}}{{p\left( {x,z} \right)}{dx}}}}}}.}$

In case of r_(o)≤r_(in)<r_(e),

${{{{Q_{y}(z)}\frac{\int_{- r_{o}}^{r_{o}}{{b\left( {x,z} \right)}{{dx} \cdot {\int_{- r_{c}}^{r_{c}}{{p\left( {x,z} \right)}{dx}}}}}}{\int_{- r_{o}}^{r_{o}}{{b\left( {x,z} \right)}{{dx} \cdot {\int_{- r_{i\; n}}^{r_{i\; n}}{{p\left( {x,z} \right)}{dx}}}}}}} = \frac{\int_{- r_{c}}^{r_{c}}{{p\left( {x,z} \right)}{dx}}}{\int_{- r_{i\; n}}^{r_{i\; n}}{{p\left( {x,z} \right)}{dx}}}},}\;$which indicates that the quotient is independent of the object size oncondition that r_(o)<r_(e).

The Object Size Independence (OSI) in DPR applies as long as the imagewidth i remains below the Circle of Confusion (CoC) width denoted as c.In the one-dimensional case, this is represented by diameters d₀<d_(c).Using paraxial optics, these diameters can be substituted, such that

${{\frac{i}{a}o_{s}} < {\frac{D_{x}}{i}{{d - i}}}},$with a as the object distance, i as the image distance, o_(s) as theobject size, D_(x) as the lens exit pupil diameter and d as the sensorposition with respect to image-side principal plane. After rearranging,this can be written as

$o_{s} < {\frac{{aD}_{x}}{i^{2}}{{{d - i}}.}}$

When focusing a single lens to infinity, this simplifies to

${o_{s} < {\frac{f}{F\#}{{1 - \frac{f}{a}}}}},$where ƒ is the focal length and F# the F-number of the lens.

Furthermore, with a matrix of optical sensors a defocused beam profilemay be subdivided into cross-sections along lines of a certain angle θand with a distance ω from the origin of ordinates. Accordingly, theparameterization of a single line may be given byω=x cos(θ)+y sin(θ).

The integration of the intensity along parallel lines can bemathematically described by an integral projection

{⋅} of the well-known Radon transform which reads

_((ω,θ)){ƒ(x,y)}=∫∫_(−∞) ^(∞)ƒ(x,y)δ(x cos(θ)+y sin(θ)−ω)dxdy,where δ denotes the Dirac delta function and ƒ (x, y) is the intensityof an enclosed defocused beam profile. The photon ratio R for a givenangle θ and projection width ω is given by

R = ( ω , θ ) ⁢ { f ⁡ ( x , y ) } ,with ƒ′(x, y) as the inner region. The variation of θ may yielddifferent ratios R for skewed object surfaces at a certain distance. Itis sufficient to let θ vary in the following interval {θ∈

₊,θ<π}.

In one embodiment, the light beam propagating from the object to thedetector may illuminate the sensor element with at least one patterncomprising at least one feature point. As used herein, the term “featurepoint” refers to at least one at least partially extended feature of thepattern. The feature point may be selected from the group consisting of:at least one point, at least one line, at least one edge. The patternmay be generated by the object, for example, in response to anillumination by the at least one light source with an illuminationpattern comprising the at least one pattern. A1 may correspond to a fullor complete area of a feature point on the optical sensors. A2 may be acentral area of the feature point on the optical sensors. The centralarea may be a constant value. The central area may be smaller comparedto the full area of the feature point. For example, in case of acircular feature point, the central area may have a radius from 0.1 to0.9 of a full radius of the feature point, preferably from 0.4 to 0.6 ofthe full radius.

For example, the light beam propagating from the object to the detectormay illuminate the optical sensors with at least one line pattern. Theline pattern may be generated by the object, for example in response toan illumination by the at least one illumination source with anillumination pattern comprising the at least one line pattern. A1 maycorrespond to an area with a full line width of the line pattern on theoptical sensors, in particular on the light sensitive area of theoptical sensors. The line pattern on the optical sensors may be widenedand/or displaced compared to the line pattern of the illuminationpattern such that the line width on the optical sensors is increased. Inparticular, in case of a matrix of optical sensors, the line width ofthe line pattern on the optical sensors may change from one column toanother column. A2 may be a central area of the line pattern on theoptical sensors. The line width of the central area may be a constantvalue, and may in particular correspond to the line width in theillumination pattern. The central area may have a smaller line widthcompared to the full line width. For example, the central area may havea line width from 0.1 to 0.9 of the full line width, preferably from 0.4to 0.6 of the full line width. The line pattern may be segmented on theoptical sensors. Each column of the matrix of optical sensors maycomprise center information of intensity in the central area of the linepattern and edge information of intensity from regions extending furtheroutwards from the central area to edge regions of the line pattern.

For example, the light beam propagating from the object to the detectormay illuminate the sensor element with at least one point pattern. Thepoint pattern may be generated by the object, for example in response toan illumination by the at least one light source with an illuminationpattern comprising the at least one point pattern. A1 may correspond toan area with a full radius of a point of the point pattern on theoptical sensors. A2 may be a central area of the point in the pointpattern on the optical sensors. The central area may be a constantvalue. The central area may have a radius compared to the full radius.For example, the central area may have a radius from 0.1 to 0.9 of thefull radius, preferably from 0.4 to 0.6 of the full radius.

The light beam propagating from the object to the detector mayilluminate the sensor element with a reflection pattern comprising bothpoint patterns and line patterns. Other embodiments in addition oralternatively to line pattern and point pattern are feasible.

For example, the optical sensors may comprise a first optical sensorhaving a first light sensitive area and a second optical sensor having asecond light sensitive area, wherein the first and the second lightsensitive areas are arranged such that a condition

$\frac{a}{c} \neq \frac{b}{d}$is satisfied, wherein “a” is a ratio of photons hitting both an innerregion of a plane perpendicular to the optical axis intersecting theoptical axis at a distance equal to half of a focal length of thetransfer device and the first light sensitive area, “b” is a ratio ofphotons hitting both the inner region of the plane and the second lightsensitive area, “c” is a ratio of photons hitting both an outer regionof the plane and the first light-sensitive area, “d” is a ratio of thephotons hitting both the outer region of the plane and the second lightsensitive area. The first light sensitive area and the second lightsensitive areas may be arranged such that the inner region may have anarea with a geometrical center point on the optical axis and anextension such that half of the photons hit the plane within the innerregion and the other half hit the plane outside the inner region. Thefirst light sensitive area and the second light sensitive areas may bearranged such that the inner region may be designed as a circle with acenter point on the optical axis and a radius r which is chosen suchthat half of the photons hit the plane within the circle and the otherhalf hit the plane outside the circle.

As outlined above, the detector may comprise at least one illuminationsource. A distance perpendicular to an optical axis of the detectorbetween the illumination source and the optical sensors may be small.The distance perpendicular to the optical axis of the detector betweenthe illumination source and the optical sensors may be less than 0.1 m,preferably less than 0.05 m, more preferably less than 0.025 m. Theillumination source and the optical axis may be separated by a smallbaseline. As used herein, the term “baseline”, also denoted as basisline, refers to a distance, for example in a xy-plane, between theoptical axis and the illumination source, in particular a distancebetween the optical axis and a z-component of the illumination lightbeam. The illumination source may be spaced apart from the optical axisby a minimum distance. The minimum distance from the optical axis may bedefined by further detector elements such as size and position of theoptical sensors and of the at least one optional transfer device, whichwill be described in detail below. The baseline may be less than 0.1 m,preferably less than 0.05 m, more preferably less than 0.025 m. Forexample, the baseline may be 21 mm. Preferably, the illumination sourcemay be arranged right next to the transfer device. For example, thetransfer device may be flattened such that the illumination source canbe positioned even closer to the optical axis. The illumination sourcemay be arranged behind the transfer device.

At least one of the optical sensors may be adapted to generate at leastone sensor signal dependent on a time-of-flight (TOF) the illuminationlight beam has traveled from the illumination source to the object andthe reflection light beam has traveled from the object to the lightsensitive area of the optical sensor. The evaluation device may beconfigured for determining at least one TOF-longitudinal coordinateZ_(TOF) of the object by evaluating the TOF sensor signal. The opticalsensor adapted to generate the TOF sensor signal may be designed astime-of-flight detector. The time-of-flight detector may be selectedfrom the group consisting of: at least one pulsed time-of-flightdetector; at least one phase modulated time-of-flight detector; at leastone direct time-of-flight detector; at least one indirect time-of-flightdetector. For example, the pulsed time-of-flight detector may be atleast one range gated imager and/or at least one direct time-off-lightimager. For example the phase modulated time-of-flight detector may beat least one RF-modulated light source with at least one phase detector.The optical sensor may be adapted to determine a time delay betweenemission of the illumination light beam by the illumination source andreceipt of the reflection light beam.

For example, the optical sensor adapted to generate the TOF sensorsignal may be designed as pulsed time-of-flight detector. The detectormay comprise the at least one interruption device, such as at least oneshutter element, adapted to generate a pulsed light beam. The opticalsensor may be adapted to store the TOF sensor signal dependent on thereceiving time of the reflection light beam in a plurality of timewindows, in particular subsequent time windows. The optical sensor maybe adapted to store dependent on receiving time of the reflection lightbeam the generated TOF sensor signal in at least one first time windowand/or in at least one second time window. The first and second timewindows may be correlated with the opening and closure of theinterruption device. Duration of first and second time windows may bepre-defined. For example, the TOF sensor signal may be stored in thefirst time window during opening of the interruption device, whereasduring closure of the interruption device the TOF sensor signal may bestored in the second time window. Other durations of time windows arethinkable. The first and the second time window may comprise informationabout background, signal height and signal shift.

For example, the optical sensor adapted to generate the TOF sensorsignal may be designed as direct time-of-flight imager. The directtime-of-flight imager may comprise the at least one illumination sourceadapted to generate at least one single laser pulse. The single laserpulse may be reflected back from the object onto the optical sensor. Theoptical sensor may comprise at least one photodiode, for example atleast one Avalanche Photo Diode (APD), such as at least one Si APD, orsuch as at least one InGaAs APD, or at least one PIN photo detectorarray, or at least one Single-Photon Avalanche Photodiode (SPAD),adapted to image the reflection light beam. The direct time-of flightimager may be adapted to image at least one image comprising spatial andtemporal data.

For example, the optical sensor adapted to generate the TOF sensorsignal may be designed as phase modulated time-of-flight modulator. Thephase modulated time-of-flight modulator may be adapted to measure adifference in phase, in particular a phase shift, by determining acorrelated signal, for example by multiplying a received signal, i.e. ofthe reflection light beam, with the emitted signal, i.e. theillumination light beam. A DC component of the correlated signal maycomprise an information about the difference in phase. The evaluationdevice may be adapted to determine the second longitudinal coordinate ofthe object from the phase difference. For example, the illuminationsource and the optical sensor adapted to generate the TOF sensor signalmay be designed as RF-modulated light source with at least one phasedetector. The illumination source may comprise, for example, at leastone LED and/or at least one laser. The illumination source may compriseat least one modulation device adapted to modulate the light beam havinga pre-defined phase shift. For example, the modulation device maycomprise at least one radio frequency module. The radio frequency modulemay be adapted to modulate the illumination beam with an RF carrier. Theoptical sensor may be adapted to determine a phase shift of thereflective light beam impinging on the optical sensor.

The optical sensor may be designed as and/or may comprise at least onetime-of-flight pixel. Preferably, the detector may comprise at least twooptical sensors, wherein each optical sensor is designed as and/orcomprises at least one TOF pixel. For example, the detector, inparticular the optical sensor may comprise a quadrant diode adapted togenerate the TOF sensor signal. For example, the detector, in particularthe optical sensor, may comprise at least one pixelated TOF-imager.

The evaluation device may be configured for determining the at least oneTOF longitudinal coordinate z_(TOF) of the object by evaluating the TOFsensor signal. As used herein, the term “TOF longitudinal coordinate”refers to a longitudinal coordinate derived from the TOF sensor signal.As described above, the illumination light source may be adapted toperiodically generate at least one light pulse. The detector may beadapted to generate the first longitudinal sensor signal for eachperiod. The evaluation device may be adapted to determine in which pulseperiod the TOF sensor signal was generated using the second longitudinalcoordinate. The detector may be adapted to uniquely assign to whichperiod the ToF-signal refers to by using the combined sensor signal.Both, the TOF sensor signal and the combined sensor signal, may benon-monotonous functions of the longitudinal coordinate z_(real). Thus,the longitudinal coordinate may not be uniquely deter-mined from one ofthe TOF sensor signal or the combined sensor signal alone and ameasurement range may not be restricted to a longitudinal range in whichthe signals are unique functions of z_(real). The term “measurementrange” generally refers to a range from the object to the detector inwhich determination of the longitudinal coordinate is possible. The term“longitudinal range” generally refers to a range from the object to thedetector in which unique determination of the longitudinal coordinate ispossible. Below and/or above certain distances from the object to thedetector a determination of the longitudinal coordinate may not bepossible. For example, time-of-flight measurements are not possiblebelow a certain distance from the object to the detector, possibly dueto the minimum measurement time of the internal clock. Furthermore, intime-of-flight measurements the sensor signal may be unique within alongitudinal period, but the sensor signal may be the same in caseinteger multiples of the longitudinal period are added such that thedetermined longitudinal coordinate may be non-unique. Thus, the same TOFsensor signal will be obtained for a distance z₁ and a distancez₁+n·z_(1p), where n is an integer denoting the longitudinal period andz_(1p) is the longitudinal period of the TOF sensor signal, wherein thedistances z₁ and z₁+n·z_(1p) are within the measurement range. As usedherein, the term “longitudinal period” refers to partitions of a period,in particular a distance range, in which the longitudinal coordinate canbe unambiguously determined from the TOF sensor signal. Non-uniquelongitudinal coordinates may be denoted as relative longitudinalcoordinates and the unique longitudinal coordinates may be denoted asabsolute longitudinal coordinates.

If both the TOF sensor signal F1 and the combined sensor signals F2 areavailable, it may be possible to uniquely determine the longitudinalcoordinate and to extend the longitudinal range, as long as each signalpair (F1,F2) corresponds to a unique distance and vice versa. Inparticular, if a unique signal pair (F1,F2) exists for each longitudinalcoordinate and vice versa, the evaluation device may be adapted todetermine the unique combined longitudinal coordinate by

(1) selecting at least one first selected signal such as the TOF sensorsignal and/or the combined sensor signal and determining non-uniquefirst longitudinal coordinates;

(2) selecting a second selected signal such as the combined signal Qand/or the TOF sensor signal, which was not selected in step (1), anddetermining non-unique second longitudinal coordinates;

(3) determining whether one of the non-unique first longitudinalcoordinates and the non-unique second longitudinal coordinates match upto a predetermined tolerance threshold;

(4) setting a combined unique longitudinal coordinate to be a matchinglongitudinal coordinate.

In step (1) and step (2), signals may be selected in the given order ormay be performed in a different order. For example, in step (1) the TOFsensor signal may be selected and in step (2) the combined signal Q maybe selected. In another example, in step (1) the combined sensor signalmay be selected, and the non-unique first longitudinal sensor signal maybe determined therefrom. In step (2), the TOF sensor signal may beselected.

Additionally or alternatively to step (4), the evaluation device may beadapted to output an error signal in case no matching coordinates arefound and/or to output an error signal in case more than one matchingcoordinates are found. Additionally or alternatively, the signal pairsand their corresponding longitudinal coordinates may be stored in alook-up table. Additionally or alternatively, the signal pairs and theircorresponding longitudinal coordinates may be approximated or describedby an analytical function which is evaluated to find the longitudinalcoordinate corresponding to a given signal pair.

The evaluation device may comprise at least two memory elements. As usedherein, the term “memory element” refers to a device adapted to storeinformation. The evaluation device may be adapted to receive and tostore information provided by the optical sensors, for example the atleast one first sensor signal. Such information may comprise raw sensordata and/or processed sensor data. For example, the memory element maybe adapted to store information for further evaluation by the evaluationdevice. The memory element may be a volatile or non-volatile memoryelement.

As described above, the optical sensor may be designed as and/or maycomprise at least one ToF pixel. The detector may comprise at least twoswitches. Each of the switches may be connected to the optical sensoradapted to generate the first sensor signal, for example by at least oneconnector. In particular, each of the switches may be connected to theToF pixel. The switches are adapted to provide the TOF sensor signal toone of the memory elements. In particular, the switches may be adaptedto let, dependent on receiving time of the reflection light beam, thegenerated TOF sensor signal pass through one of the switches. Forexample, the TOF sensor signal may pass one of the switches duringopening of the interruption device, whereas during closure of theinterruption device the TOF sensor signal may pass the other switch.Each of the switches may be controlled by a control signal having apulse length identical to a pulse length of a light pulse generated bythe illumination source. The control signal of one of the switches maybe delayed. For example, the delay may correspond to the pulse length ofthe light pulse. The evaluation device may be adapted to sample and/orstore depending on the delay a first part, or fraction, of the TOFsensor signal through a first switch in a first memory element and theother, second part, or fraction, of the TOF sensor signal through asecond switch in a second memory element. The evaluation device may beadapted to determine the first longitudinal coordinate by evaluating thefirst part and second part of the TOF sensor signal. The evaluationdevice may be adapted to determine the first longitudinal coordinate z₁by

${z_{1} = {{\frac{1}{2} \cdot c \cdot t_{0} \cdot \frac{S\; 1_{2}}{{S\; 1_{1}} + {S\; 1_{2}}}} + z_{0}}};$wherein c is the speed of light, t₀ is the pulse length of theillumination light beam, z₀ is a distance offset often determined by theresolution of the time measurement, and S1 ₁ and S1 ₂ are the first partand second part of the TOF sensor signal, respectively.

As outlined above, the detector may further comprise one or moreadditional elements such as one or more additional optical elements.Further, the detector may fully or partially be integrated into at leastone housing.

In a first preferred embodiment of the present invention, the detectormay comprise:

-   -   at least one first optical sensor having a first light-sensitive        area, wherein the first optical sensor may be configured to        generate at least one first sensor signal in response to an        illumination of the first light-sensitive area by a light beam        propagating from the object to the detector;    -   at least one second optical sensor having a second        light-sensitive area, wherein the second optical sensor may be        configured to generate at least one second sensor signal in        response to an illumination of the second light-sensitive area        by the light beam, wherein the first light-sensitive area may be        smaller than the second light-sensitive area; and    -   at least one evaluation device being configured for determining        at least one longitudinal coordinate z of the object by        evaluating the first and second sensor signals.

In this first preferred embodiment the optical sensors may be arrangedsuch that the light-sensitive areas of the optical sensors differ intheir longitudinal coordinate and/or their surface areas.

As will further be outlined in detail below, each optical sensor,preferably, may be embodied such that precisely one light-sensitive areais present in the respective optical sensor, such as by providingprecisely one light-sensitive area which may be illuminated, in responseto which illumination precisely one uniform sensor signal is created forthe whole optical sensor. Thus, preferably, each optical sensor is asingle area optical sensor rather than a pixelated optical sensor likee.g. a sensor matrix. Other embodiments, however, are feasible. The useof the single area optical sensors, however, renders the setup of thedetector specifically simple and efficient. Thus, as an example,commercially available photo-sensors, such as commercially availablesilicon photodiodes, each having precisely one sensitive area, may beused in the setup, one with a small light-sensitive area and one with alarger light-sensitive area, as will be explained in further detailbelow.

The first and second light-sensitive areas specifically may be orientedtowards the object.

The light beam propagating from the object to the detector specificallymay fully illuminate the first light-sensitive area, such that the firstlight-sensitive area is fully located within the light beam, with awidth of the light beam being larger than the light-sensitive area ofthe first optical sensor. Contrarily, preferably, the light beampropagating from the object to the detector specifically may create alight spot on the second light-sensitive area, which is smaller than thesecond light-sensitive area, such that the light spot is fully locatedwithin the second light-sensitive area. Within the light spot on thesecond light-sensitive area, a shadow created by the first opticalsensor may be located. Thus, generally, the first optical sensor, havingthe smaller first light-sensitive area, may be located in front of thesecond optical sensor, as seen from the object, with the firstlight-sensitive area being fully located within the light beam and withthe light beam generating a light spot on the second light-sensitivearea being smaller than the second light-sensitive area, and withfurther a shadow created by the first optical sensor within the lightspot. The situation may easily be adjusted by a person skilled in theart of optics by choosing one or more appropriate lenses or elementshaving a focusing or defocusing effect on the light beam, such as byusing an appropriate transfer device as will be outlined in furtherdetail below. As further used herein, a light spot generally refers to avisible or detectable round or non-round illumination of an article, anarea or object by a light beam.

As outlined above, the first light-sensitive area is smaller than thesecond light-sensitive area. As used therein, the term “is smaller than”refers to the fact that the surface area of the first light-sensitivearea is smaller than the surface area of the second light-sensitivearea, such as by at least a factor of 0.9, e.g. at least a factor of 0.7or even by at least a factor of 0.5. As an example, both the firstlight-sensitive area and the second light-sensitive area may have theshape of a square or of a rectangle, wherein side lengths of the squareor rectangle of the first light-sensitive area are smaller thancorresponding side lengths of the square or rectangle of the secondlight-sensitive area. Alternatively, as an example, both the firstlight-sensitive area and the second light-sensitive area may have theshape of a circle, wherein a diameter of the first light-sensitive areais smaller than a diameter of the second light-sensitive area. Again,alternatively, as an example, the first light-sensitive area may have afirst equivalent diameter, and the second light-sensitive area may havea second equivalent diameter, wherein the first equivalent diameter issmaller than the second equivalent diameter.

The first light-sensitive area specifically may overlap with the secondlight-sensitive area in a direction of propagation of the light beam.The light beam may illuminate both the first light-sensitive area and,fully or partially, the second light-sensitive area. Thus, as anexample, as seen from an object located on an optical axis of thedetector, the first light-sensitive area may be located in front of thesecond light-sensitive area, such that the first light-sensitive area,as seen from the object, is fully located within the secondlight-sensitive area. When the light beam from this object propagatestowards the first and second light-sensitive areas, as outlined above,the light beam may fully illuminate the first light-sensitive area andmay create a light spot on the second light-sensitive area, wherein ashadow created by the first optical sensor is located within the lightspot. It shall be noted, however, that other embodiments are feasible.

Specifically, as will be outlined in further detail below, theevaluation device may be configured to determine the at least onelongitudinal coordinate z of the object by using at least one known,determinable or predetermined relationship between first and secondsensor signals. In particular, the evaluation device is configured todetermine the at least one coordinate z of the object by using at leastone known, determinable or predetermined relationship between thequotient signal derived from the first and second sensor signals and thelongitudinal coordinate.

Thus, the evaluation device specifically may be configured for derivingthe quotient signal Q by dividing the first and second sensor signals,by dividing multiples of the first and second sensor signals or bydividing linear combinations of the first and second sensor signals. Asan example, Q may simply be determined asQ=s ₁ /s ₂orQ=s ₂ /s ₁,with s₁ denoting the first sensor signal and s₂ denoting the secondsensor signal. Additionally or alternatively, Q may be determined asQ=a·s ₁ /b·s ₂orQ=b·s ₂ /a·s ₁,with a and b being real numbers which, as an example, may bepredetermined or determinable. Additionally or alternatively, Q may bedetermined asQ=(a·s ₁ +b·s ₂)/(c·s ₁ +d·s ₂),with a, b, c and d being real numbers which, as an example, may bepredetermined or determinable. As a simple example for the latter, Q maybe determined asQ=s ₁/(s ₁ +s ₂).

Other quotient signals are feasible.

Typically, in the setup described above, Q is a monotonous function ofthe longitudinal coordinate of the object and/or of the size of thelight spot such as the diameter or equivalent diameter of the lightspot. Thus, as an example, specifically in case linear optical sensorsare used, the quotient Q=s₁/s₂ is a monotonously decreasing function ofthe size of the light spot. Without wishing to be bound by this theory,it is believed that this is due to the fact that, in the preferred setupdescribed above, both the first signal s₁ and the second signal s₂decrease as a square function with increasing distance to the lightsource, since the amount of light reaching the detector decreases.Therein, however, the first signal s₁ decreases more rapidly than thesecond signal s₂, since, in the optical setup as used in theexperiments, the light spot in the image plane grows and, thus, isspread over a larger area. The quotient of the first and second sensorsignals, thus, continuously decreases with increasing diameter of thelight beam or diameter of the light spot on the first and secondlight-sensitive areas. The quotient, further, is mainly independent fromthe total power of the light beam, since the total power of the lightbeam forms a factor both in the first sensor signal and in the secondsensor signal. Consequently, the quotient Q may form a secondary signalwhich provides a unique and unambiguous relationship between the firstand second sensor signals and the size or diameter of the light beam.Since, on the other hand, the size or diameter of the light beam isdependent on a distance between the object, from which the light beampropagates towards the detector, and the detector itself, i.e. dependenton the longitudinal coordinate of the object, a unique and unambiguousrelationship between the first and second sensor signals and thelongitudinal coordinate may exist. For the latter, reference e.g. may bemade to WO 2014/097181 A1. The predetermined relationship may bedetermined by analytical considerations, such as by assuming a linearcombination of Gaussian light beams, by empirical measurements, such asmeasurements measuring the first and second sensor signals or asecondary signal derived thereof as a function of the longitudinalcoordinate of the object, or both.

The evaluation device is configured for determining the longitudinalcoordinate by evaluating the quotient signal Q. The evaluation devicemay be configured for using at least one predetermined relationshipbetween the quotient signal Q and the longitudinal coordinate. Thepredetermined relationship may be one or more of an empiricrelationship, a semi-empiric relationship and an analytically derivedrelationship. The evaluation device may comprise at least one datastorage device for storing the predetermined relationship, such as alookup list or a lookup table.

The quotient signal Q may be determined by using various means. As anexample, a software means for deriving the quotient signal, a hardwaremeans for deriving the quotient signal, or both, may be used and may beimplemented in the evaluation device. Thus, the evaluation device, as anexample, may comprise at least one divider, wherein the divider isconfigured for deriving the quotient signal. The divider may fully orpartially be embodied as one or both of a software divider or a hardwaredivider.

The first and second optical sensors specifically may be arrangedlinearly in one and the same beam path of the detector. As used herein,the term “linearly” generally refers to that the sensors are arrangedalong one axis. Thus, as an example, the first and second opticalsensors both may be located on an optical axis of the detector.Specifically, the first and second optical sensors may be arrangedconcentrically with respect to an optical axis of the detector.

The first optical sensor may be arranged in front of the second opticalsensor. Thus, as an example, the first optical sensor may simply beplaced on the surface of the second optical sensor. Additionally oralternatively, the first optical sensor may be spaced apart from thesecond optical sensor by no more than five times the square root of asurface area of the first light-sensitive area. Additionally oralternatively, the first optical sensor may be arranged in front of thesecond optical sensor and may be spaced apart from the second opticalsensor by no more than 50 mm, preferably by no more than 15 mm.

As outlined above, the second light-sensitive area is larger than thefirst light-sensitive area. Thus, as an example, the secondlight-sensitive area may be larger by at least a factor of two, morepreferably by at least a factor of three and most preferably by at leasta factor of five and the first light-sensitive area.

The first light-sensitive area specifically may be a smalllight-sensitive area, such that, preferably, the light beam fullyilluminates this light-sensitive area. Thus, as an example which may beapplicable to typical optical configurations, the first light-sensitivearea may have a surface area of 1 mm² to 150 mm², more preferably asurface area of 10 mm² to 100 mm².

The second light-sensitive area specifically may be a large area. Thus,preferably, within a measurement range of the detector, light spotsgenerated by a light beam propagating from the object of the detectormay fully be located within the second light-sensitive area, such thatthe light spot is fully located within the borders of the secondlight-sensitive area. As an example, which is applicable e.g. in typicaloptical setups, the second light-sensitive area may have a surface areaof 160 mm² to 1000 mm², more preferably a surface area of 200 mm² to 600mm².

Infrared optical sensors which may be used for the first optical sensor,for the second optical sensor or for both the first and second opticalsensors may be commercially available infrared optical sensors, such asinfrared optical sensors commercially available from Hamamatsu PhotonicsDeutschland GmbH, D-82211 Herrsching am Ammersee, Germany. Thus, as anexample, the first optical sensor, the second optical sensor or both thefirst and the second optical sensor may comprise at least one opticalsensor of an intrinsic photovoltaic type, more preferably at least onesemiconductor photodiode selected from the group consisting of: a Gephotodiode, an InGaAs photodiode, an extended InGaAs photodiode, an InAsphotodiode, an InSb photodiode, a HgCdTe photodiode. Additionally oralternatively, the first optical sensor, the second optical sensor orboth the first and the second optical sensor may comprise at least oneoptical sensor of an extrinsic photovoltaic type, more preferably atleast one semiconductor photodiode selected from the group consistingof: a Ge:Au photodiode, a Ge:Hg photodiode, a Ge:Cu photodiode, a Ge:Znphotodiode, a Si:Ga photodiode, a Si:As photodiode. Additionally oralternatively, the first optical sensor, the second optical sensor orboth the first and the second optical sensor may comprise at least onebolometer, preferably a bolometer selected from the group consisting ofa VO bolometer and an amorphous Si bolometer.

The first and second optical sensors each, independently, may be opaque,transparent or semitransparent. For the sake of simplicity, however,opaque sensors which are not transparent for the light beam, may beused, since these opaque sensors generally are widely commerciallyavailable.

The first and second optical sensors each specifically may be uniformsensors having a single light-sensitive area each. Thus, the first andsecond optical sensors specifically may be non-pixelated opticalsensors.

As outlined above, by evaluating the first and second sensor signals,the detector may be enabled to determine the at least one longitudinalcoordinate of the object, including the option of determining thelongitudinal coordinate of the whole object or of one or more partsthereof. In addition, however, other coordinates of the object,including one or more transversal coordinates and/or rotationalcoordinates, may be determined by the detector, specifically by theevaluation device. Thus, as an example, one or more additionaltransversal sensors may be used for determining at least one transversalcoordinate of the object. Various transversal sensors are generallyknown in the art, such as the transversal sensors disclosed in WO2014/097181 A1 and/or other position-sensitive devices (PSDs), such asquadrant diodes, CCD or CMOS chips or the like. These devices maygenerally also be implemented into the detector according to the presentinvention. As an example, a part of the light beam may be split offwithin the detector, by at least one beam splitting element. Thesplit-off portion, as an example, may be guided towards a transversalsensor, such as a CCD or CMOS chip or a camera sensor, and a transversalposition of a light spot generated by the split-off portion on thetransversal sensor may be determined, thereby determining at least onetransversal coordinate of the object. Consequently, the detectoraccording to the present invention may either be a one-dimensionaldetector, such as a simple distance measurement device, or may beembodied as a two-dimensional detector or even as a three-dimensionaldetector. Further, as outlined above or as outlined in further detailbelow, by scanning a scenery or an environment in a one-dimensionalfashion, a three-dimensional image may also be created. Consequently,the detector according to the present invention specifically may be oneof a one-dimensional detector, a two-dimensional detector or athree-dimensional detector. The evaluation device may further beconfigured to determine at least one transversal coordinate x, y of theobject.

In a further embodiment, the detector may comprise:

-   -   at least one first optical sensor having a first light-sensitive        area, wherein the first optical sensor may be configured to        generate at least one first sensor signal in response to an        illumination of the first light-sensitive area by a light beam        propagating from the object to the detector;    -   at least one second optical sensor having a second        light-sensitive area, wherein the second optical sensor may be        configured to generate at least one second sensor signal in        response to an illumination of the second light-sensitive area        by the light beam, wherein the first light-sensitive area and        the second light sensitive area may be arranged such that the        light-sensitive areas differ in their longitudinal coordinate;        and    -   at least one evaluation device being configured for determining        at least one longitudinal coordinate z of the object by        evaluating the first and second sensor signals.

With respect to definitions and embodiments reference can be made to thedescription of the first preferred embodiment. In particular, the firstlight-sensitive area may be smaller than the second light-sensitivearea.

In a further preferred embodiment of the present invention, the detectormay comprise:

-   -   at least one sensor element having a matrix of optical sensors,        the optical sensors each having a light-sensitive area, wherein        each optical sensor may be configured to generate at least one        sensor signal in response to an illumination of the        light-sensitive area by at least one light beam propagating from        the object to the detector;    -   at least one evaluation device may be configured for evaluating        the sensor signals, by        -   a) determining at least one optical sensor having the            highest sensor signal and forming at least one center            signal;        -   b) evaluating the sensor signals of the optical sensors of            the matrix and forming at least one sum signal;        -   c) determining at least one combined signal by combining the            center signal and the sum signal; and        -   d) determining at least one longitudinal coordinate z of the            object by evaluating the combined signal.

In this further preferred embodiment the optical sensors may be arrangedsuch that the light-sensitive areas of the optical sensors differ inspatial offset and/or surface areas.

As used herein, the term “sensor element” generally refers to a deviceor a combination of a plurality of devices configured for sensing atleast one parameter. In the present case, the parameter specifically maybe an optical parameter, and the sensor element specifically may be anoptical sensor element. The sensor element may be formed as a unitary,single device or as a combination of several devices. As further usedherein, the term “matrix” generally refers to an arrangement of aplurality of elements in a predetermined geometrical order. The matrix,as will be outlined in further detail below, specifically may be or maycomprise a rectangular matrix having one or more rows and one or morecolumns. The rows and columns specifically may be arranged in arectangular fashion. It shall be outlined, however, that otherarrangements are feasible, such as nonrectangular arrangements. As anexample, circular arrangements are also feasible, wherein the elementsare arranged in concentric circles or ellipses about a center point. Forexample, the matrix may be a single row of pixels. Other arrangementsare feasible.

The optical sensors of the matrix specifically may be equal in one ormore of size, sensitivity and other optical, electrical and mechanicalproperties. The light-sensitive areas of all optical sensors of thematrix specifically may be located in a common plane, the common planepreferably facing the object, such that a light beam propagating fromthe object to the detector may generate a light spot on the commonplane.

As explained in more detail in e.g. in WO 2012/110924 A1 or WO2014/097181 A1, typically, a predetermined or determinable relationshipexists between a size of a light spot, such as a diameter of the lightspot, a beam waist or an equivalent diameter, and the longitudinalcoordinate of the object from which the light beam propagates towardsthe detector. Without wishing to be bound by this theory, the lightspot, may be characterized by two measurement variables: a measurementsignal measured in a small measurement patch in the center or close tothe center of the light spot, also referred to as the center signal, andan integral or sum signal integrated over the light spot, with orwithout the center signal. For a light beam having a certain total powerwhich does not change when the beam is widened or focused, the sumsignal should be independent from the spot size of the light spot, and,thus, should, at least when linear optical sensors within theirrespective measurement range are used, be independent from the distancebetween the object and the detector. The center signal, however, isdependent on the spot size. Thus, the center signal typically increaseswhen the light beam is focused, and decreases when the light beam isdefocused. By comparing the center signal and the sum signal, thus, anitem of information on the size of the light spot generated by the lightbeam and, thus, on the longitudinal coordinate of the object may begenerated. The comparing of the center signal and the sum signal, as anexample, may be done by forming the quotient signal Q out of the centersignal and the sum signal and by using a predetermined or determinablerelationship between the longitudinal coordinate and the quotient signalfor deriving the longitudinal coordinate.

The use of a matrix of optical sensors provides a plurality ofadvantages and benefits. Thus, the center of the light spot generated bythe light beam on the sensor element, such as on the common plane of thelight-sensitive areas of the optical sensors of the matrix of the sensorelement, may vary with a transversal position of the object. By using amatrix of optical sensors, the detector according to the presentinvention may adapt to these changes in conditions and, thus, maydetermine the center of the light spot simply by comparing the sensorsignals. Consequently, the detector according to the present inventionmay, by itself, choose the center signal and determine the sum signaland, from these two signals, derive a combined signal which containsinformation on the longitudinal coordinate of the object. By evaluatingthe combined signal, the longitudinal coordinate of the object may,thus, be determined. The use of the matrix of optical sensors, thus,provides a significant flexibility in terms of the position of theobject, specifically in terms of a transversal position of the object.

The transversal position of the light spot on the matrix of opticalsensors, such as the transversal position of the at least one opticalsensor generating the sensor signal, may even be used as an additionalitem of information, from which at least one item of information on atransversal position of the object may be derived, as e.g. disclosed inWO 2014/198629 A1. Additionally or alternatively, as will be outlined infurther detail below, the detector according to the present inventionmay contain at least one additional transversal detector for, inaddition to the at least one longitudinal coordinate, detecting at leastone transversal coordinate of the object.

Consequently, in accordance with the present invention, the term “centersignal” generally refers to the at least one sensor signal comprisingessentially center information of the beam profile. As used herein, theterm “highest sensor signal” refers to one or both of a local maximum ora maximum in a region of interest. For example, the center signal may bethe signal of the at least one optical sensor having the highest sensorsignal out of the plurality of sensor signals generated by the opticalsensors of the entire matrix or of a region of interest within thematrix, wherein the region of interest may be predetermined ordeterminable within an image generated by the optical sensors of thematrix. The center signal may arise from a single optical sensor or, aswill be outlined in further detail below, from a group of opticalsensors, wherein, in the latter case, as an example, the sensor signalsof the group of optical sensors may be added up, integrated or averaged,in order to determine the center signal. The group of optical sensorsfrom which the center signal arises may be a group of neighboringoptical sensors, such as optical sensors having less than apredetermined distance from the actual optical sensor having the highestsensor signal, or may be a group of optical sensors generating sensorsignals being within a predetermined range from the highest sensorsignal. The group of optical sensors from which the center signal arisesmay be chosen as large as possible in order to allow maximum dynamicrange. The evaluation device may be adapted to determine the centersignal by integration of the plurality of sensor signals, for examplethe plurality of optical sensors around the optical sensor having thehighest sensor signal. For example, the beam profile may be a trapezoidbeam profile and the evaluation device may be adapted to determine anintegral of the trapezoid, in particular of a plateau of the trapezoid.

Similarly, the term “sum signal” generally refers to a signal comprisingessentially edge information of the beam profile. For example, the sumsignal may be derived by adding up the sensor signals, integrating overthe sensor signals or averaging over the sensor signals of the entirematrix or of a region of interest within the matrix, wherein the regionof interest may be predetermined or determinable within an imagegenerated by the optical sensors of the matrix. When adding up,integrating over or averaging over the sensor signals, the actualoptical sensors from which the sensor signal is generated may be leftout of the adding, integration or averaging or, alternatively, may beincluded into the adding, integration or averaging. The evaluationdevice may be adapted to determine the sum signal by integrating signalsof the entire matrix, or of the region of interest within the matrix.For example, the beam profile may be a trapezoid beam profile and theevaluation device may be adapted to determine an integral of the entiretrapezoid. Further, when trapezoid beam profiles may be assumed, thedetermination of edge and center signals may be replaced by equivalentevaluations making use of properties of the trapezoid beam profile suchas determination of the slope and position of the edges and of theheight of the central plateau and deriving edge and center signals bygeometric considerations.

Additionally or alternatively, the evaluation device may be adapted todetermine one or both of center information or edge information from atleast one slice or cut of the light spot. This may be realized forexample by replacing the area integrals in the quotient signal Q by aline integrals along the slice or cut. For improved accuracy, severalslices or cuts through the light spot may be used and averaged. In caseof an elliptical spot profile, averaging over several slices or cuts mayresult in an improved distance information.

Similarly, the term “combined signal”, as used herein, generally refersto a signal which is generated by combining the center signal and thesum signal. Specifically, the combination may include one or more of:forming a quotient of the center signal and the sum signal or viceversa; forming a quotient of a multiple of the center signal and amultiple of the sum signal or vice versa; forming a quotient of a linearcombination of the center signal and a linear combination of the sumsignal or vice versa; forming a quotient of a first linear combinationof the center signal and the sum signal and a second linear combinationof the center signal and the sum signal. Additionally or alternatively,the combined signal may comprise an arbitrary signal or signalcombination which contains at least one item of information on acomparison between the center signal and the sum signal.

The light beam propagating from the object to the detector specificallymay fully illuminate the at least one optical sensor from which thecenter signal is generated, such that the at least one optical sensorfrom which the center signal arises is fully located within the lightbeam, with a width of the light beam being larger than thelight-sensitive area of the at least one optical sensor from which thesensor signal arises. Contrarily, preferably, the light beam propagatingfrom the object to the detector specifically may create a light spot onthe entire matrix which is smaller than the matrix, such that the lightspot is fully located within the matrix. This situation may easily beadjusted by a person skilled in the art of optics by choosing one ormore appropriate lenses or elements having a focusing or defocusingeffect on the light beam, such as by using an appropriate transferdevice as will be outlined in further detail below. As further usedherein, a “light spot” generally refers to a visible or detectable roundor non-round illumination of an article, an area or object by a lightbeam.

Specifically, as will be outlined in further detail below, theevaluation device may be configured to determine the at least onelongitudinal coordinate z of the object by using at least one known,determinable or predetermined relationship between the sensor signals.In particular, the evaluation device is configured to determine the atleast one coordinate z of the by using at least one known, determinableor predetermined relationship between a quotient signal derived from thesensor signals and the longitudinal coordinate.

As outlined above, the center signal generally may be a single sensorsignal, such as a sensor signal from the optical sensor in the center ofthe light spot, or may be a combination of a plurality of sensorsignals, such as a combination of sensor signals arising from opticalsensors in the center of the light spot, or a secondary sensor signalderived by processing a sensor signal derived by one or more of theaforementioned possibilities. The determination of the center signal maybe performed electronically, since a comparison of sensor signals isfairly simply implemented by conventional electronics, or may beperformed fully or partially by software. Specifically, the centersignal may be selected from the group consisting of: the highest sensorsignal; an average of a group of sensor signals being within apredetermined range of tolerance from the highest sensor signal; anaverage of sensor signals from a group of optical sensors containing theoptical sensor having the highest sensor signal and a predeterminedgroup of neighboring optical sensors; a sum of sensor signals from agroup of optical sensors containing the optical sensor having thehighest sensor signal and a predetermined group of neighboring opticalsensors; a sum of a group of sensor signals being within a predeterminedrange of tolerance from the highest sensor signal; an average of a groupof sensor signals being above a predetermined threshold; a sum of agroup of sensor signals being above a predetermined threshold; anintegral of sensor signals from a group of optical sensors containingthe optical sensor having the highest sensor signal and a predeterminedgroup of neighboring optical sensors; an integral of a group of sensorsignals being within a predetermined range of tolerance from the highestsensor signal; an integral of a group of sensor signals being above apredetermined threshold.

As outlined above, raw sensor signals of the optical sensors may be usedfor evaluation or secondary sensor signals derived thereof. As usedherein, the term “secondary sensor signal” generally refers to a signal,such as an electronic signal, more preferably an analogue and/or adigital signal, which is obtained by processing one or more raw signals,such as by filtering, averaging, demodulating or the like. Thus, imageprocessing algorithms may be used for generating secondary sensorsignals from the totality of sensor signals of the matrix or from aregion of interest within the matrix. Specifically, the detector, suchas the evaluation device, may be configured for transforming the sensorsignals of the optical sensor, thereby generating secondary opticalsensor signals, wherein the evaluation device is configured forperforming steps a)-d) by using the secondary optical sensor signals.The transformation of the sensor signals specifically may comprise atleast one transformation selected from the group consisting of: afiltering; a selection of at least one region of interest; a formationof a difference image between an image created by the sensor signals andat least one offset; an inversion of sensor signals by inverting animage created by the sensor signals; a formation of a difference imagebetween an image created by the sensor signals at different times; abackground correction; a decomposition into color channels; adecomposition into hue; saturation; and brightness channels; a frequencydecomposition; a singular value decomposition; applying a Canny edgedetector; applying a Laplacian of Gaussian filter; applying a Differenceof Gaussian filter; applying a Sobel operator; applying a Laplaceoperator; applying a Scharr operator; applying a Prewitt operator;applying a Roberts operator; applying a Kirsch operator; applying ahigh-pass filter; applying a low-pass filter; applying a Fouriertransformation; applying a Radon-transformation; applying aHough-transformation; applying a wavelet-transformation; a thresholding;creating a binary image. The region of interest may be determinedmanually by a user or may be determined automatically, such as byrecognizing an object within an image generated by the optical sensors.As an example, a vehicle, a person or another type of predeterminedobject may be determined by automatic image recognition within an image,i.e. within the totality of sensor signals generated by the opticalsensors, and the region of interest may be chosen such that the objectis located within the region of interest. In this case, the evaluation,such as the determination of the longitudinal coordinate, may beperformed for the region of interest, only. Other implementations,however, are feasible.

As outlined above, the detection of the center of the light spot, i.e.the detection of the center signal and/or of the at least one opticalsensor from which the center signal arises, may be performed fully orpartially electronically or fully or partially by using one or moresoftware algorithms. Specifically, the evaluation device may comprise atleast one center detector for detecting the at least one highest sensorsignal and/or for forming the center signal. The center detectorspecifically may fully or partially be embodied in software and/or mayfully or partially be embodied in hardware. The center detector mayfully or partially be integrated into the at least one sensor elementand/or may fully or partially be embodied independently from the sensorelement.

As outlined above, the sum signal may be derived from all sensor signalsof the matrix, from the sensor signals within a region of interest orfrom one of these possibilities with the sensor signals arising from theoptical sensors contributing to the center signal excluded. In everycase, a reliable sum signal may be generated which may be compared withthe center signal reliably, in order to determine the longitudinalcoordinate. Generally, the sum signal may be selected from the groupconsisting of: an average over all sensor signals of the matrix; a sumof all sensor signals of the matrix; an integral of all sensor signalsof the matrix; an average over all sensor signals of the matrix exceptfor sensor signals from those optical sensors contributing to the centersignal; a sum of all sensor signals of the matrix except for sensorsignals from those optical sensors contributing to the center signal; anintegral of all sensor signals of the matrix except for sensor signalsfrom those optical sensors contributing to the center signal; a sum ofsensor signals of optical sensors within a predetermined range from theoptical sensor having the highest sensor signal; an integral of sensorsignals of optical sensors within a predetermined range from the opticalsensor having the highest sensor signal; a sum of sensor signals above acertain threshold of optical sensors being located within apredetermined range from the optical sensor having the highest sensorsignal; an integral of sensor signals above a certain threshold ofoptical sensors being located within a predetermined range from theoptical sensor having the highest sensor signal. Other options, however,exist.

The summing may be performed fully or partially in software and/or maybe performed fully or partially in hardware. A summing is generallypossible by purely electronic means which, typically, may easily beimplemented into the detector. Thus, in the art of electronics, summingdevices are generally known for summing two or more electrical signals,both analogue signals and digital signals. Thus, the evaluation devicemay comprise at least one summing device for forming the sum signal. Thesumming device may fully or partially be integrated into the sensorelement or may fully or partially be embodied independently from thesensor element. The summing device may fully or partially be embodied inone or both of hardware or software.

As outlined above, the comparison between the center signal and the sumsignal specifically may be performed by forming one or more quotientsignals. Thus, generally, the combined signal may be a quotient signalQ, derived by one or more of: forming a quotient of the center signaland the sum signal or vice versa; forming a quotient of a multiple ofthe center signal and a multiple of the sum signal or vice versa;forming a quotient of a linear combination of the center signal and alinear combination of the sum signal or vice versa; forming a quotientof the center signal and a linear combination of the sum signal and thecenter signal or vice versa; forming a quotient of the sum signal and alinear combination of the sum signal and the center signal or viceversa; forming a quotient of an exponentiation of the center signal andan exponentiation of the sum signal or vice versa; forming a quotient ofa first linear combination of the center signal and the sum signal and asecond linear combination of the center signal and the sum signal. Otheroptions, however, exist. The evaluation device may be configured forforming the one or more quotient signals. The evaluation device mayfurther be configured for determining the at least one longitudinalcoordinate by evaluating the at least one quotient signal.

The evaluation device specifically may be configured for using at leastone predetermined relationship between the quotient signal Q and thelongitudinal coordinate, in order to determine the at least onelongitudinal coordinate. Thus, due to the reasons disclosed above anddue to the dependency of the properties of the light spot on thelongitudinal coordinate, the quotient signal Q typically is a monotonousfunction of the longitudinal coordinate of the object and/or of the sizeof the light spot such as the diameter or equivalent diameter of thelight spot. Thus, as an example, specifically in case linear opticalsensors are used, a simple quotient of the sensor signal s_(center) andthe sum signal s_(sum) Q=s_(center)/s_(sum) may be a monotonouslydecreasing function of the distance. Without wishing to be bound by thistheory, it is believed that this is due to the fact that, in thepreferred setup described above, both the center signal s_(center) andthe sum signal s_(sum) decrease as a square function with increasingdistance to the light source, since the amount of light reaching thedetector decreases. Therein, however, the center signal s_(center)decreases more rapidly than the sum signal s_(sum), since, in theoptical setup as used in the experiments, the light spot in the imageplane grows and, thus, is spread over a larger area. The quotient of thecenter signal and the sum signal, thus, continuously decreases withincreasing diameter of the light beam or diameter of the light spot onthe light-sensitive areas of the optical sensors of the matrix. Thequotient, further, is typically independent from the total power of thelight beam, since the total power of the light beam forms a factor bothin the center signal and in the sum sensor signal. Consequently, thequotient Q may form a secondary signal which provides a unique andunambiguous relationship between the center signal and the sum signaland the size or diameter of the light beam. Since, on the other hand,the size or diameter of the light beam is dependent on a distancebetween the object, from which the light beam propagates towards thedetector, and the detector itself, i.e. dependent on the longitudinalcoordinate of the object, a unique and unambiguous relationship betweenthe center signal and the sum signal on the one hand and thelongitudinal coordinate on the other hand may exist. For the latter,reference e.g. may be made to WO 2014/097181 A1. The predeterminedrelationship may be determined by analytical considerations, such as byassuming a linear combination of Gaussian light beams, by empiricalmeasurements, such as measurements measuring the combined signal and/orthe center signal and the sum signal or secondary signals derivedthereof as a function of the longitudinal coordinate of the object, orboth.

Thus, generally, the evaluation device may be configured for determiningthe longitudinal coordinate by evaluating the quotient signal Q such asthe combined signal. This determining may be a one-step process, such asby directly combining the center signal and the sum signal and derivingthe longitudinal coordinate thereof, or may be a multiple step process,such as by firstly deriving the combined signal from the center signaland the sum signal and, secondly, by deriving the longitudinalcoordinate from the combined signal. Both options, i.e. the option ofsteps c) and d) being separate and independent steps and the option ofsteps c) and d) being fully or partially combined, shall be comprised bythe present invention.

As outlined above, the optical sensors specifically may be or maycomprise photodetectors, preferably inorganic photodetectors, morepreferably inorganic semiconductor photodetectors, most preferablysilicon photodetectors. Specifically, the optical sensors may besensitive in the infrared spectral range. All of the optical sensors ofthe matrix or at least a group of the optical sensors of the matrixspecifically may be identical. Groups of identical optical sensors ofthe matrix specifically may be provided for different spectral ranges,or all optical sensors may be identical in terms of spectralsensitivity. Further, the optical sensors may be identical in sizeand/or with regard to their electronic or optoelectronic properties.

The matrix may be composed of independent optical sensors. Thus, amatrix of inorganic photodiodes may be composed. Alternatively, however,a commercially available matrix may be used, such as one or more of aCCD detector, such as a CCD detector chip, and/or a CMOS detector, suchas a CMOS detector chip.

Thus, generally, the optical sensors of the detector may form a sensorarray or may be part of a sensor array, such as the above-mentionedmatrix. Thus, as an example, the detector may comprise an array ofoptical sensors, such as a rectangular array, having m rows and ncolumns, with m, n, independently, being positive integers. Preferably,more than one column and more than one row is given, i.e. n>1, m>1.Thus, as an example, n may be 2 to 16 or higher and m may be 2 to 16 orhigher. Preferably, the ratio of the number of rows and the number ofcolumns is close to 1. As an example, n and m may be selected such that0.3≤m/n≤3, such as by choosing m/n=1:1, 4:3, 16:9 or similar. As anexample, the array may be a square array, having an equal number of rowsand columns, such as by choosing m=2, n=2 or m=3, n=3 or the like.

As further outlined above, the matrix specifically may be a rectangularmatrix having at least one row, preferably a plurality of rows, and aplurality of columns. As an example, the rows and columns may beoriented essentially perpendicular, wherein, with respect to the term“essentially perpendicular”, reference may be made to the definitiongiven above. Thus, as an example, tolerances of less than 20°,specifically less than 10° or even less than 5°, may be acceptable. Inorder to provide a wide range of view, the matrix specifically may haveat least 10 rows, preferably at least 50 rows, more preferably at least100 rows. Similarly, the matrix may have at least 10 columns, preferablyat least 50 columns, more preferably at least 100 columns. The matrixmay comprise at least 50 optical sensors, preferably at least 100optical sensors, more preferably at least 500 optical sensors. Thematrix may comprise a number of pixels in a multi-mega pixel range.Other embodiments, however, are feasible. Thus, as outlined above, insetups in which an axial rotational symmetry is to be expected, circulararrangements or concentric arrangements of the optical sensors of thematrix, which may also be referred to as pixels, may be preferred.

As further outlined above, preferably, the sensor element may beoriented essentially perpendicular to an optical axis of the detector.Again, with respect to the term “essentially perpendicular”, referencemay be made to the definition and the tolerances given above. Theoptical axis may be a straight optical axis or may be bent or evensplit, such as by using one or more deflection elements and/or by usingone or more beam splitters, wherein the essentially perpendicularorientation, in the latter cases, may refer to the local optical axis inthe respective branch or beam path of the optical setup.

The detector may be adapted to determine at least one distanceinformation of the object by using triangulation and/or structured lighttechniques. In known 3D sensing devices, such as devices usingtriangulation or structured light techniques, due to correspondenceproblems regular, constant or periodic pattern are not suitable sinceeach measured point has to be assigned to one reference point of areference pattern. The at least one light beam propagating from theobject to the detector may be adapted to generate at least onereflection pattern on the matrix of optical sensors. The term“reflection pattern” refers to at least one image determined by theoptical sensors in response to illumination of the light sensitive areasby the light beam propagating from the object to the detector which wasgenerated in response to illumination by the illumination pattern. Thereflection pattern may comprise at least one reflection featuredepending on the corresponding illumination feature of the illuminationpattern. The detector may be adapted to determine the longitudinalcoordinate of an object point for at least one reflection feature of thereflection pattern from the quotient signal. Thus, the detector may beadapted to pre-classify the at least one reflection feature of thereflection pattern. This allows using illumination patterns comprisingregular and/or constant and/or periodic pattern such as a triangularpattern, a rectangular pattern, a hexagonal pattern or a patterncomprising further convex tilings. The illumination pattern may compriseas much as possible features per area such that hexagonal patterns maybe preferred.

The evaluation device may be adapted to perform at least one imageanalysis and/or image processing in order to identify the reflectionfeature. The image analysis and/or image processing may use at least onefeature detection algorithm. The image analysis and/or image processingmay comprise one or more of the following: a filtering; a selection ofat least one region of interest; a formation of a difference imagebetween an image created by the sensor signals and at least one offset;an inversion of sensor signals by inverting an image created by thesensor signals; a formation of a difference image between an imagecreated by the sensor signals at different times; a backgroundcorrection; a decomposition into color channels; a decomposition intohue; saturation; and brightness channels; a frequency decomposition; asingular value decomposition; applying a Canny edge detector; applying aLaplacian of Gaussian filter; applying a Difference of Gaussian filter;applying a Sobel operator; applying a Laplace operator; applying aScharr operator; applying a Prewitt operator; applying a Robertsoperator; applying a Kirsch operator; applying a high-pass filter;applying a low-pass filter; applying a Fourier transformation; applyinga Radon-transformation; applying a Hough-transformation; applying awavelet-transformation; a thresholding; creating a binary image. Theregion of interest may be determined manually by a user or may bedetermined automatically, such as by recognizing an object within animage generated by the optical sensors.

The evaluation device may be adapted to determine at least one referencefeature in at least one reference pattern corresponding to the at leastone reflection feature. The term “reference pattern” refers to an imageof comparison at a specific spatial position comprising at least onereference feature. As outlined above, the evaluation device may beadapted to perform an image analysis and to identify features of thereflection pattern. The evaluation device may be adapted to identify atleast one reference feature in the reference pattern having anessentially identical longitudinal coordinate as the selected reflectionfeature. The term “essentially identical” refers to identical within10%, preferably 5%, most preferably 1%. The reference featurecorresponding to the reflection feature may be determined using epipolargeometry. For description of epipolar geometry reference is made, forexample, to chapter 2 in X. Jiang, H. Bunke: “DreidimensionalesComputersehen” Springer, Berlin Heidelberg, 1997. Epipolar geometry mayassume that the reference pattern and the reflection pattern may beimages of the object determined at different spatial positions and/orspatial orientations having a fixed distance. The distance may be arelative distance, also denoted as baseline. The evaluation device maybe adapted to determine an epipolar line in the reference pattern. Therelative position of the reference pattern and reflection pattern may beknown. For example, the relative position of the reference pattern andthe reflection pattern may be stored within at least one storage unit ofthe evaluation device. The evaluation device may be adapted to determinea straight line extending from the selected reflection feature to thereal world feature from which it originates. Thus, the straight line maycomprise possible object features corresponding to the selectedreflection feature. The straight line and the baseline span an epipolarplane. As the reference pattern is determined at a different relativeconstellation from the reflection pattern, the corresponding possibleobject features may be imaged on a straight line, called epipolar line,in the reference pattern. The epipolar line may be the intersection ofthe epipolar plane and the reference pattern. Thus, a feature of thereference pattern corresponding to the selected feature of thereflection pattern lies on the epipolar line.

Depending on the distance to the object, the reference featurecorresponding to the image position of the reflection feature may bedisplaced within the reference pattern compared to the image position inthe reflection pattern. The reference pattern may comprise at least onedisplacement region in which the reference feature corresponding to theselected reflection feature may be imaged. The displacement region maycomprise only one reference feature. The displacement region may extendalong the epipolar line. The evaluation device may be adapted todetermine the reference feature along the epipolar line. The evaluationdevice may be adapted to determine the longitudinal coordinate z for thereflection feature and an error interval ±ε from the quotient signal Qto determine a displacement region along the epipolar line correspondingto z±ε. The evaluation device may be adapted to match the selectedreflection feature with at least one reference feature within thedisplacement region. As used herein, the term “matching” refers todetermining and/or evaluating the corresponding reference and reflectionfeatures. The evaluation device may be adapted to match the selectedfeature of the reflection pattern with the reference feature within thedisplacement region by using at least one evaluation algorithmconsidering the determined longitudinal coordinate z. The evaluationalgorithm may be a linear scaling algorithm. Preferably, the detectormay be adapted to pre-classify the selected reflection feature using thequotient signal Q such that an unambiguous assignment to one referencefeature is possible. In particular, illumination features of theillumination pattern may be arranged such that corresponding referencefeatures of the reference pattern may have a relative distance to eachother as large as possible on the epipolar line. The illuminationfeatures of the illumination pattern may be arranged such that only fewreference features are positioned on the epipolar line. For example, theillumination pattern may comprise at least one hexagonal pattern.Preferably, the illumination pattern may comprise at least one hexagonalpattern, wherein the pattern is rotated relative to the baseline.Preferably, the illumination pattern may comprise at least one displacedhexagonal pattern, wherein individual points of the hexagonal patternare displaced by a random distance from the regular position, forexample orthogonal to the epipolar line of the point. The displacementof the individual points may be smaller than half of the distancebetween two parallel epipolar lines, preferably smaller than one fourthof the distance between two parallel epipolar lines. The displacement ofthe individual points may be as such that two points are not displacedabove each other.

The evaluation device may be adapted to determine a displacement of thereference feature and the reflection feature. The evaluation device maybe adapted to determine the displacement of the matched referencefeature and the selected reflection feature. As used herein, the term“displacement” refers to the difference between an image position in thereference image to an image position in the reflection image. Theevaluation device may be adapted to determine a longitudinal informationof the matched feature using a predetermined relationship between alongitudinal coordinate and the displacement. As used herein, the term“longitudinal information” refers to information relating to thelongitudinal coordinate Z_(triang). For example, the longitudinalinformation may be a distance value. The evaluation device may beadapted to determine the pre-determined relationship by usingtriangulation methods. In case the position of the selected reflectionfeature in the reflection pattern and the position of the matchedreference feature and/or the relative displacement of the selectedreflection feature and the matched reference feature are known, thelongitudinal coordinate of the corresponding object feature may bedetermined by triangulation. Thus, the evaluation device may be adaptedto select, for example subsequent and/or column by column, a reflectionfeature and to determine for each potential position of the referencefeature the corresponding distance value using triangulation. Thedisplacement and the corresponding distance value may be stored in atleast one storage device of the evaluation device. The evaluation devicemay, as an example, comprise at least one data processing device, suchas at least one processor, at least one DSP, at least one FPGA and/or atleast one ASIC. Further, for storing the at least one predetermined ordeterminable relationship between the longitudinal coordinate z and thedisplacement, the at least one data storage device may be provided, suchas for providing one or more look-up tables for storing thepredetermined relationship.

The detector may comprise at least one FiP sensor adapted for generatingthe so called FiP effect as described in WO 2015/024871 orWO2016/120392. For example, at least one optical sensors of the matrixof optical sensors may be adapted to generate a so called FiP signal.For example, each of the optical sensors of the matrix may be adapted togenerate the at least one FiP signal. For example, the matrix of opticalsensors may be a pixelated FiP-sensor. Additionally or alternatively,the FiP signal may be determined, such as extracted and/or simulated,from the sensor signals of the matrix and the quotient as outlined abovemay be determined from the sensor signals.

As outlined above, by evaluating the center signal and the sum signal,the detector may be enabled to determine the at least one longitudinalcoordinate of the object, including the option of determining thelongitudinal coordinate of the whole object or of one or more partsthereof. In addition, however, other coordinates of the object,including one or more transversal coordinates and/or rotationalcoordinates, may be determined by the detector, specifically by theevaluation device. Thus, as an example, one or more transversal sensorsmay be used for determining at least one transversal coordinate of theobject. As outlined above, the position of the at least one opticalsensor from which the center signal arises may provide information onthe at least one transversal coordinate of the object, wherein, as anexample, a simple lens equation may be used for optical transformationand for deriving the transversal coordinate. Additionally oralternatively, one or more additional transversal sensors may be usedand may be comprised by the detector. Various transversal sensors aregenerally known in the art, such as the transversal sensors disclosed inWO 2014/097181 A1 and/or other position-sensitive devices (PSDs), suchas quadrant diodes, CCD or CMOS chips or the like. Additionally oralternatively, as an example, the detector according to the presentinvention may comprise one or more PSDs disclosed in R. A. Street (Ed.):Technology and Applications of Amorphous Silicon, Springer-VerlagHeidelberg, 2010, pp. 346-349. Other embodiments are feasible. Thesedevices may generally also be implemented into the detector according tothe present invention. As an example, a part of the light beam may besplit off within the detector, by at least one beam splitting element.The split-off portion, as an example, may be guided towards atransversal sensor, such as a CCD or CMOS chip or a camera sensor, and atransversal position of a light spot generated by the split-off portionon the transversal sensor may be determined, thereby determining atleast one transversal coordinate of the object. Consequently, thedetector according to the present invention may either be aone-dimensional detector, such as a simple distance measurement device,or may be embodied as a two-dimensional detector or even as athree-dimensional detector. Further, as outlined above or as outlined infurther detail below, by scanning a scenery or an environment in aone-dimensional fashion, a three-dimensional image may also be created.Consequently, the detector according to the present inventionspecifically may be one of a one-dimensional detector, a two-dimensionaldetector or a three-dimensional detector. The evaluation device mayfurther be configured to determine at least one transversal coordinatex, y of the object. The evaluation device may be adapted to combine theinformation of the longitudinal coordinate and the transversalcoordinate and to determine a position of the object in space.

The detector may be configured for evaluating a single light beam or aplurality of light beams. In case a plurality of light beams propagatesfrom the object to the detector, means for distinguishing the lightbeams may be provided. Thus, the light beams may have different spectralproperties, and the detector may comprise one or more wavelengthselective elements for distinguishing the different light beams. Each ofthe light beams may then be evaluated independently. The wavelengthselective elements, as an example, may be or may comprise one or morefilters, one or more prisms, one or more gratings, one or moredichroitic mirrors or arbitrary combinations thereof. Further,additionally or alternatively, for distinguishing two or more lightbeams, the light beams may be modulated in a specific fashion. Thus, asan example, the light beams may be frequency modulated, and the sensorsignals may be demodulated in order to distinguish partially the sensorsignals originating from the different light beams, in accordance withtheir demodulation frequencies. These techniques generally are known tothe skilled person in the field of high-frequency electronics.Generally, the evaluation device may be configured for distinguishingdifferent light beams having different modulations.

The illumination source may be adapted to generate and/or to project acloud of points such that a plurality of illuminated regions isgenerated on the matrix of optical sensor, for example the CMOSdetector. Additionally, disturbances may be present on the matrix ofoptical sensor such as disturbances due to speckles and/or extraneouslight and/or multiple reflections. The evaluation device may be adaptedto determine at least one region of interest, for example one or morepixels illuminated by the light beam which are used for determination ofthe longitudinal coordinate of the object. For example, the evaluationdevice may be adapted to perform a filtering method, for example, ablob-analysis and/or object recognition method.

Preferably, the illumination source may be a movable and/or mobileillumination source. For example, the illumination source may be movedduring the measurement such as to illuminate the object from differentpositions and/or angles. However, embodiments are feasible in which theillumination source may be positioned in at least one fixed position,for example during a complete measurement time. The evaluation devicemay be adapted to illumination sources with unclear position such as dueto high manufacturing tolerances and/or user interaction and/or userassembly or the like.

The illumination source may illuminate the object with a convergentand/or divergent and/or collimated light beam.

In a further preferred embodiment the detector may comprise:

-   -   at least two optical sensors, each optical sensor having a        light-sensitive area, wherein each light-sensitive area has a        geometrical center, wherein the geometrical centers of the        optical sensors are spaced apart from an optical axis of the        detector by different spatial offsets, wherein each optical        sensor is configured to generate a sensor signal in response to        an illumination of its respective light-sensitive area by a        light beam propagating from the object to the detector; and    -   at least one evaluation device being configured for determining        at least one longitudinal coordinate z of the object by        combining the at least two sensor signals.

In this further preferred embodiment the optical sensors may be arrangedsuch that the light-sensitive areas of the optical sensors differ intheir spatial offset and/or their surface areas

The light-sensitive areas of the optical sensors may overlap, as visiblefrom the object, or may not overlap, i.e. may be placed next to eachother without overlap. The light-sensitive areas may be spaced apartfrom each other or may directly be adjacent.

The detector may comprise more than two optical sensors. In any case,i.e. in the case of the detector comprising precisely two opticalsensors and in the case of the detector comprising more than two opticalsensors, the optical sensors may comprise at least one first opticalsensor being spaced apart from the optical axis by a first spatialoffset and at least one second optical sensor being spaced apart fromthe optical axis by a second spatial offset, wherein the first spatialoffset and the second spatial offset differ. In case further opticalsensors are provided, besides the first and second optical sensors,these additional optical sensors may also fulfill the condition or,alternatively, may be spaced apart from the optical axis by the firstspatial offset, by the second spatial offset or by a different spatialoffset. The first and second spatial offsets, as an example, may differby at least a factor of 1.2, more preferably by at least a factor of1.5, more preferably by at least a factor of two. The spatial offsetsmay also be zero or may assume negative values, as long as theabove-mentioned conditions are fulfilled.

As outlined above, each light-sensitive area has a geometrical center.Each geometrical center of each light-sensitive area may be spaced apartfrom the optical axis of the detector, such as the optical axis of thebeam path or the respective beam path in which the respective opticalsensor is located.

As outlined above, the optical sensors specifically may be located inone and the same plane, which, preferably, is a plane perpendicular tothe optical axis. Other configurations, however, are possible. Thus, twoor more of the optical sensors may also be spaced apart in a directionparallel to the optical axis.

For example, the optical sensors may be partial diodes of a segmenteddiode, with a center of the segmented diode being off-centered from theoptical axis of the detector. As used herein, the term “partial diode”may comprise several diodes that are connected in series or in parallel.This example is rather simple and cost-efficiently realizable. Thus, asan example, bi-cell diodes or quadrant diodes are widely commerciallyavailable at low cost, and driving schemes for these bi-cell diodes orquadrant diodes are generally known. As used herein, the term “bi-celldiode” generally refers to a diode having two partial diodes in onepackaging. Bi-cell and quadrant diodes may have two or four separatelight sensitive areas, in particular two or four active areas. As anexample, the bi-cell diodes may each form independent diodes having thefull functionality of a diode. As an example, each of the bi-cell diodesmay have a square or rectangular shape, and the two diodes may be placedin one plane such that the two partial diodes, in total, form a 1×2 or2×1 matrix having a rectangular shape. In the present invention,however, a new scheme for evaluating the sensor signals of the bi-celldiodes and quadrant diode is proposed, as will be outlined in furtherdetail below. Generally, however, the optical sensors specifically maybe partial diodes of a quadrant diode, with a center of the quadrantdiode being off-centered from the optical axis of the detector. As usedherein, the term “quadrant diode” generally refers to a diode havingfour partial diodes in one packaging. As an example, the four partialdiodes may each form independent diodes having the full functionality ofa diode. As an example, the four partial diodes may each have a squareor rectangular shape, and the four partial diodes may be placed in oneplane such that the four partial diodes, in total, form a 2×2 matrixhaving a rectangular or square shape. In a further example, the fourpartial diodes, in total, may form a 2×2 matrix having a circular orelliptical shape. The partial diodes, as an example, may be adjacent,with a minimum separation from one another. However, the separationbetween adjacent diodes may also be varied to improve the dynamic rangeof the quotient signal. As an example, the separation between twoadjacent diodes may be increased by using an opaque mask. This mayreduce the light on one of the diodes relative and/or absolute ascompared to the adjacent diode which will may increase a quotient of thesignal of the two diodes.

In case a quadrant diode is used, having a 2×2 matrix of partial diodes,the center of the quadrant diode specifically may be off-centered oroffset from the optical axis. Thus, as an example, the center of thequadrant diodes, which may be an intersection of the geometrical centersof the optical sensors of the quadrant diode, may be off-centered fromthe optical axis by at least 0.2 mm, more preferably by at least 0.5 mm,more preferably by at least 1.0 mm or even 2.0 mm. Similarly, when usingother types of optical sensors setups having a plurality of opticalsensors, an overall center of the optical sensors may be offset from theoptical axis by the same distance.

As outlined above, bi-cell and quadrant diodes may have two or fourseparate light sensitive areas, in particular two or four active areas.The light sensitive areas may be separated by a dividing line. Thedividing line, for example, of two Si-diodes, can be arranged parallelto the baseline of the detector, in particular parallel to a spotmovement on the optical sensors. However, other arrangements arefeasible. For example, the quadrant diode may comprise two dividinglines. The dividing lines may be arranged orthogonal to each other. Theorthogonal arrangement of the dividing lines allows adjusting of thequotient signal for near field and far field applications independentlyfrom each other. In addition to determining the quotient signal ofsensor signals of two optical sensors of the quadrant diode, theevaluation device may be adapted to determine a second quotient using atleast three or all four sensor signals of the quadrant diode. The twoquotients can be formed such that two distinct distance ranges arecovered. The two quotient signals for the near field and far field mayhave an overlap region in which both quotient signals allow obtainingreasonable determination of the longitudinal distance z. For example,the quotient signal may be determined by dividing the sensor signals oftwo top quadrants, also called top segment, by the sensor signals of twobottom quadrants, also called bottom segment. Using the quotient signalof sensor signals determined by two sensor areas which have a dividingline parallel to the baseline of the detector may allow determining ofthe quotient without any distance dependent movement of the light spot.In particular, as an example, if the dividing line between the top andbottom segment is parallel to the baseline, the quotient signaldetermined from top segment divided by bottom segment may be used in thenear field, wherein the light spot may illuminate only one of a left orright segment of the quadrant diode. In this case determining thequotient signal by dividing sensor signals of the left and rightsegments may not be possible. However, determining the quotient bydividing the sensor signals of top and bottom segments may provide areasonable distance measurement. The quotient signal determined bydividing sensor signals of the left and right segments may be used forfar field measurement, wherein the light spot illuminates both left andright segments. Furthermore, the evaluation device may be adapted todetermine the quotient signal by dividing sensor signals of opposingsegments or neighboring segments. The evaluation device may be adaptedto combine the acquired sensor signals of the quadrants such thatdistance measurement is possible over a wide range with a largeresolution.

Generally, the light-sensitive areas of the optical sensors may have anarbitrary surface area or size. Preferably, however, specifically inview of a simplified evaluation of the sensor signals, thelight-sensitive areas of the optical sensors are substantially equal,such as within a tolerance of less than 10%, preferably less than 5% oreven less than 1%. This, specifically, is the case in typicalcommercially available quadrant diodes.

The detector may comprise at least one quadrant diode comprising fourquadrants. For example, an upper left quadrant of the quadrant diode maybe denoted “ol”, a lower left quadrant “ul”, an upper right quadrant maybe denoted “or” and a lower right quadrant may be denoted “ur”. Thelight spot may move from the left in a small distance range to the leftin a far distance range. The detector may comprise at least one neutraldensity filter. The quadrants of the small distance range may be coveredby the neutral density filter. In the small distance range the quotientol/ul may be used to determine the longitudinal coordinate z. In the fardistance range a quotient or/ur and/or a quotient from a combination ofall quadrants may be used. The neutral density filter allows thatobjects in the small distance range are adapted to illuminate theoptical sensors brighter by constant amplification without saturatingthe amplifier. At the same time it is possible to obtain in the fardistance range more of the signal. Thus, the neutral density filterallows to enhance dynamic of the detector.

Specifically, as will be outlined in further detail below, theevaluation device may be configured to determine the at least onelongitudinal coordinate z of the object by using at least one known,determinable or predetermined relationship between sensor signals and/orany secondary signal derived thereof and the longitudinal coordinate.Thus, the evaluation device may be configured for determining at leastone combined sensor signal out of the at least two sensor signals, i.e.of the at least one sensor signal of at least one first optical sensorand out of the at least one sensor signal of at least one second opticalsensor.

The detector may comprise at least one FiP sensor adapted for generatingthe so called FiP effect as described in WO 2015/024871 orWO2016/120392. For example, the bi-cell or quadrant diode may be adaptedto generate a so called FiP signal. As outlined e.g. in WO 2015/024871or WO2016/120392, the FiP signal can be used to determine depthinformation over a wide distance range. The FiP sensor may be adapted toexhibit a positive and/or a negative FiP effect. According to theFiP-effect, the longitudinal sensor signal, given the same total power,may exhibit at least one pronounced maximum for one or a plurality offocusings and/or for one or a plurality of specific sizes of the lightspot on the sensor region or within the sensor region. For purposes ofcomparison, an observation of a maximum of the longitudinal sensorsignal in a condition in which the corresponding material is impinged bya light beam with the smallest possible cross-section, such as when thematerial may be located at or near a focal point as affected by anoptical lens, may be denominated as a “positive FiP-effect”. Thenegative FiP effect describes an observation of a minimum of thelongitudinal sensor signal under a condition in which the correspondingmaterial is impinged by a light beam with the smallest available beamcross-section, in particular, when the material may be located at ornear a focal point as effected by an optical lens. The negative FiPeffect may be used to tune small image effects at high distances. Imagechanges such as position, size, shape, sharpness, etc. may vanish athigh distances while the negative FiP effect increases. Furthermore, noluminance dependence may be introduced since both cells are at the samelongitudinal position and thus receive identical photon density.

As outlined above, the detector may comprise the at least oneillumination source. A distance perpendicular to an optical axis of thedetector between the illumination source and the bi-cell or quadrantdiode may be small. The distance perpendicular to the optical axis ofthe detector between the illumination source and the bi-cell or quadrantdiode may be less than 0.1 m, preferably less than 0.05 m, morepreferably less than 0.025 m. The illumination source and the opticalaxis may be separated by a small baseline. The illumination source maybe spaced apart from the optical axis by a minimum distance. The minimumdistance from the optical axis may be defined by further detectorelements such as size and position of the bi-cell or quadrant diode andof the at least one optional transfer device. The baseline may be lessthan 0.1 m, preferably less than 0.05 m, more preferably less than 0.025m. For example, the baseline may be 21 mm. Preferably, the illuminationsource may be arranged right next to the transfer device. For example,the transfer device may be flattened such that the illumination sourcecan be positioned even closer to the optical axis. The illuminationsource may be arranged behind the transfer device.

As generally used herein, the term “combine” generally may refer to anarbitrary operation in which two or more components such as signals areone or more of mathematically merged in order to form at least onemerged combined signal and/or compared in order to form at least onecomparison signal or comparison result. As will be outlined in furtherdetail below, the combined sensor signal or secondary signal may be ormay comprise at least one quotient signal.

In case more than two sensor signals are provided, as an example, morethan one quotient signal may be generated, such as by forming quotientsignals of more than one pair of sensor signals.

Thus, as an example, in case more than two optical sensors are provided,the above-mentioned quotient formation may take place between two of thesensor signals generated by these optical sensors or may take placebetween more than two of the sensor signals. Thus, instead of using thefirst one of the sensor signals and the second one of the sensor signalsin the formulae given above, combined sensor signals may be used forquotient formation.

The quotient signal Q generally is an example for an asymmetry parameterdenoting an asymmetry or an asymmetric distribution of the light spotgenerated by the light beam on the light-sensitive areas. The quotientof the two or more optical sensors, such as the two or more photodiodes,may provide a combined signal which typically is monotonously dependenton the distance between the detector and the object from which the lightbeam travels towards the detector, as will be shown by experimental databelow. In addition or as an alternative to the quotient signal, othertypes of combined functions implementing the sensor signals of two ormore sensors in the setup of the present invention may be used, whichalso may show a dependency on the distance between the object and thedetector. The asymmetry or the asymmetry parameter of the light spot, asan example, may be an indication of the width of a light beam. If thisasymmetry parameter depends on the distance only, the measurement can beused to determine the distance.

In typical setups, commercially available quadrant diodes such asquadrant photodiodes are used for positioning, i.e. for adjusting and/ormeasuring a transversal coordinate of a light spot in the plane of thequadrant photodiode. Thus, as an example, laser beam positioning byusing quadrant photodiodes is well known. According to a typicalprejudice, however, quadrant photodiodes are used for xy-positioning,only. According to this assumption, quadrant photodiodes are notsuitable for measuring distances. The above-mentioned findings, however,using an off-centered quadrant photodiode with regard to an optical axisof the detector, show otherwise, as will be shown in furthermeasurements below. Thus, as indicated above, in quadrant photodiodes,the asymmetry of the spot can be measured by shifting the quadrant diodeslightly off-axis, such as by the above-mentioned offset. Thereby, amonotonously z-dependent function may be generated, such as by formingthe quotient signal Q of two or more of the sensor signals of two ormore partial photodiodes, i.e. quadrants, of the quadrant photodiode.Therein, in principle, only two photodiodes are necessary for themeasurement. The other two diodes may be used for noise cancellation orto obtain a more precise measurement.

In addition or as an alternative to using a quadrant diode or quadrantphotodiode, other types of optical sensors may be used. Thus, as will beshown in further detail below, staggered optical sensors may be used.

The use of quadrant diodes provides a large number of advantages overknown optical detectors. Thus, quadrant diodes are used in a largenumber of applications in combination with LEDs or active targets andare widely commercially available at very low price, with variousoptical properties such as spectral sensitivities and in various sizes.No specific manufacturing process has to be established, sincecommercially available products may be implemented into the detectoraccording to the present invention.

The detector according to the present invention specifically may be usedin multilayer optical storage discs, such as disclosed by internationalpatent application number PCT/162015/052233, filed on Mar. 26, 2015.Measurements performed by using the detector according to the presentinvention specifically may be used in order to optimize the focusposition in optical storage discs.

As will be outlined in further detail below, the distance measurement byusing the detector according to the present invention may be enhanced byimplementing one or more additional distance measurement means into thedetector and/or by combining the detector with other types of distancemeasurement means. Thus, as an example, the detector may comprise or maybe combined with at least one triangulation distance measurement device.Thus, the distance measurement can be enhanced by making use of acombination of the measurement principle discussed above and atriangulation type distance measurement. Further, means for measuringone or more other coordinates, such as x- and/or y-coordinates, may beprovided.

In case a quadrant diode is used, the quadrant diode may also be usedfor additional purposes. Thus, the quadrant diode may also be used forconventional x-y-measurements of a light spot, as generally known in theart of optoelectronics and laser physics. Thus, as an example, the lensor detector position can be adjusted using the conventional xy-positioninformation of the quadrant diode to optimize the position of the spotfor the distance measurement. As a practical example, the light spot,initially, may be located right in the center of the quadrant diode,which typically does not allow for the above-mentioned distancemeasurement using the quotient function Q. Thus, firstly, conventionalquadrant photodiode techniques may be used for off-centering a positionof the light spot on the quadrant photodiode, such that, e.g., the spotposition on the quadrant diode is optimal for the measurement. Thus, asan example, the different off-centering of the optical sensors of thedetector may simply be a starting point for movement of the opticalsensors relative to the optical axis such that the light spot isoff-centered with respect to the optical axis and with respect to ageometrical center of the array of the optical sensors.

Thus, generally, the optical sensors of the detector may form a sensorarray or may be part of a sensor array, such as the above-mentionedquadrant diode. The case m=2, n=2 is the case of the quadrant diode orquadrant optical sensor, which, for practical reasons, is one of thepreferred cases, since quadrant photodiodes are widely available.

As a starting point, a geometrical center of the optical sensors withinthe array may be off-centered from the optical axis, such as by theabove-mentioned offset. The sensor array specifically may be movablerelative to the optical axis, for example along a gradient, preferablyautomatically, such as by moving the sensor array, e.g. in a planeperpendicular to the optical axis, and/or by moving the optical axisitself, e.g. shifting the optical axis in a parallel shift and/ortilting the optical axis. Thus, the sensor array may be shifted in orderto adjust a position of a light spot generated by the light beam in theplane of the sensor array. Additionally or alternatively, the opticalaxis may be shifted and/or tilted by using appropriate elements, such asby using one or more deflection elements and/or one or more lenses. Themovement, as an example, may take place by using one or more appropriateactuators, such as one or more piezo actuators and/or one or moreelectromagnetic actuators and/or one or more pneumatic or mechanicalactuators, which, e.g., move and/or shift the array and/or move and/orshift and/or tillage one or more optical elements in the beam path inorder to move the optical axis, such as parallel shifting the opticalaxis and/or tilting the optical axis. The evaluation device specificallymay be adjusted to control a relative position of the sensor array tothe optical axis, e.g. in the plane perpendicular to the optical axis.An adjustment procedure may take place in that the evaluation device isconfigured for, firstly, determining the at least one transversalposition of a light spot generated by the light beam on the sensor arrayby using the sensor signals and for, secondly, moving the array relativeto the optical axis, such as by moving the array and/or the opticalaxis, e.g. by moving the array in the plane to the optical axis untilthe light spot is off-centered and/or by tilting a lens until the lightspot is off-centered. As used therein, a transversal position may be aposition in a plane perpendicular to the optical axis, which may also bereferred to as the x-y-plane. For the measurement of the transversalcoordinate, as an example, the sensor signals of the optical sensors maybe compared. As an example, in case the sensor signals are found to beequal and, thus, in case it is determined that the light spot is locatedsymmetrically with respect to the optical sensors, such as in the centerof the quadrant diodes, a shifting of the array and/or a tilting of alens may take place, in order to off-center the light spot in the array.Thus, as outlined above, the off-centering of the array from the opticalaxis, such as by off-centering the center of the quadrant photodiodefrom the optical axis, may simply be a starting point in order to avoidthe situation which is typical, in which the light spot is located onthe optical axis and, thus, is centered. By off-centering the arrayrelative to the optical axis, thus, the light spot should beoff-centered. In case this is found not to be true, such that the lightspot, incidentally, is located in the center of the array and equallyilluminates all optical sensors, the above-mentioned shifting of thearray relative to the optical axis may take place, preferablyautomatically, in order to off-center the light spot on the array.Thereby, a reliable distance measurement may take place.

Further, in a scanning system with a movable light source, the positionof the light spot on the quadrant diode may not be fixed. This is stillpossible, but may necessitate that different calibrations are used,dependent on the xy-position of the spot in the diode.

Further, the use of the above-mentioned quotient signal Q is a veryreliable method for distance measurements. Typically, Q is a monotonousfunction of the longitudinal coordinate of the object and/or of the sizeof the light spot such as the diameter or equivalent diameter of thelight spot. Thus, as an example, specifically in case linear opticalsensors are used, the quotient Q=s₁/s₂ is a monotonously decreasingfunction of the size of the light spot. Without wishing to be bound bythis theory, it is believed that this is due to the fact that, in thepreferred setup described above, the sensor signals, such as theabove-mentioned first sensor signal s₁ and the above-mentioned secondsensor signal s₂, decrease as a square function with increasing distanceto the light source, since the amount of light reaching the detectordecreases. Therein, however, due to the off-centering, the one of thesensor signals decreases more rapidly than the other, since, in theoptical setup as used in the experiments, the light spot in the imageplane grows and, thus, is spread over a larger area. By spreading thelight spot, however, the portion of the light illuminating the one ormore optical sensors outside the center of the light spot increases, ascompared to a situation of a very small light spot. Thus, the quotientof the sensor signals continuously changes, i.e. increases or decreases,with increasing diameter of the light beam or diameter of the lightspot. The quotient, further, may further be rendered mainly independentfrom the total power of the light beam, since the total power of thelight beam forms a factor in all sensor signals. Consequently, thequotient Q may form a secondary signal which provides a unique andunambiguous relationship between the sensor signals and the size ordiameter of the light beam.

As outlined above, specifically, quadrant photodiodes may be used. As anexample, commercially available quadrant photodiodes may be integratedin order to provide four optical sensors, such as one or more quadrantphotodiodes available from Hamamatsu Photonics Deutschland GmbH, D-82211Herrsching am Ammersee, Germany, such as quadrant Si PIN photodiodes ofthe type S4349, which are sensitive in the UV spectral range to the nearIR spectral range. In case an array of optical sensors is used, thearray may be a naked chip or may be an encapsulated array, such asencapsulated in a TO-5 metal package. Additionally or alternatively, asurface mounted device may be used, such as TT Electronics OPR5911available from TT Electronics plc, Fourth Floor, St Andrews House, WestStreet Woking Surrey, GU21 6EB, England. It shall be noted that otheroptical sensors may also be used.

Further, it shall be noted that, besides the option of using preciselyone quadrant photodiode, two or more quadrant photodiodes may also beused. Thus, as an example, a first quadrant photodiode may be used forthe distance measurement, as described above, providing the two or moreoptical sensors. Another quadrant photodiode may be used, e.g. in asecond partial beam path split off from the beam path of the firstquadrant photodiode, for a transversal position measurement, such as forusing at least one transversal coordinate x and/or y. The secondquadrant photodiode, as an example, may be located on-axis with respectto the optical axis.

Further, it shall be noted that, besides the option of using one or morequadrant photodiodes, one or more quadrant photodiodes or furtherphotodiode arrays may also be replaced or mimicked by separatedphotodiodes that are arranged or assembled close to each other,preferably in a symmetric shape such as a rectangular matrix, such as a2×2 matrix. However further arrangements are feasible. In such anarrangement or assembly, the photodiodes may be arranged or assembled ina housing or mount, such as all photodiodes in a single housing or mountor groups of photodiodes in one housing or mount, or each of thephotodiodes in a separate housing or mount. Further, the photodiodes mayalso be assembled directly on a circuit board. In such arrangements orassemblies, photodiodes may be arranged as such that the separationbetween the active area of the photodiodes, has a distinct value lessthan one centimeter, preferably less than one millimeter, morepreferably as small as possible. Further, to avoid optical reflexes,distortions, or the like that may deteriorate the measurement, the spacebetween the active areas may be either empty or filled with a material,preferably with a light absorbing material such as a black polymer, suchas black silicon, black polyoxymethylene, or the like, more preferablyoptically absorbing and electrically insulating material, such as blackceramics or insulating black polymers such as black silicon, or thelike. Further, the distinct value of the photodiode separation may alsobe realized by adding a distinct building block between the photodiodessuch as a plastic separator. Further embodiments are feasible. Thereplacement of quadrant photodiodes by single diodes arranged in asimilar setup such as in a 2×2 rectangular matrix with minimal distancebetween the active areas may further minimize the costs for the opticaldetector. Further, two or more diodes from a quadrant diode may beconnected in parallel or in series to form a single light sensitivearea.

The optical sensors each specifically may be uniform sensors having asingle light-sensitive area each. Thus, the optical sensors specificallymay be non-pixelated optical sensors.

In a further preferred embodiment the detector may comprise

-   -   at least one first optical sensor having a first light-sensitive        area, wherein the first optical sensor is configured to generate        at least one first sensor signal in response to an illumination        of the first light-sensitive area by a light beam propagating        from the object to the detector;    -   at least one second optical sensor having:        -   at least one fluorescent waveguiding sheet forming a second            light-sensitive area, wherein the fluorescent waveguiding            sheet is oriented towards the object such that at least one            light beam propagating from the object towards the detector            generates at least one light spot in the second            light-sensitive area, wherein the fluorescent waveguiding            sheet contains at least one fluorescent material, wherein            the fluorescent material is adapted to generate fluorescence            light in response to the illumination by the light beam; and        -   at least one photosensitive element located at at least one            edge of the fluorescent waveguiding sheet, capable of            detecting fluorescence light guided from the light spot            towards the photosensitive element by the fluorescent            waveguiding sheet and capable of generating at least one            second sensor signal in response to the illumination of the            second light-sensitive area by the light beam, wherein the            first light-sensitive area is smaller than the second            light-sensitive area; and    -   at least one evaluation device being configured for determining        at least one longitudinal coordinate z of the object by        evaluating the first and second sensor signals.

In this further preferred embodiment the optical sensors may be arrangedsuch that the light-sensitive areas of the optical sensors differ intheir spatial offset and/or their surface areas. The first and secondlight-sensitive areas specifically may be oriented towards the object

The light beam propagating from the object to the detector specificallymay fully illuminate the first light-sensitive area, such that the firstlight-sensitive area is fully located within the light beam, with awidth of the light beam being larger than the light-sensitive area ofthe first optical sensor. Contrarily, preferably, the light beampropagating from the object to the detector specifically may create alight spot on the second light-sensitive area, which is smaller than thesecond light-sensitive area, such that the light spot is fully locatedwithin the second light-sensitive area. Within the light spot on thesecond light-sensitive area, a shadow created by the first opticalsensor may be located. Thus, generally, the first optical sensor, havingthe smaller first light-sensitive area, may be located in front of thesecond optical sensor, as seen from the object, with the firstlight-sensitive area being fully located within the light beam and withthe light beam generating a light spot on the second light-sensitivearea being smaller than the second light-sensitive area, and withfurther a shadow created by the first optical sensor within the lightspot. The situation may easily be adjusted by a person skilled in theart of optics by choosing one or more appropriate lenses or elementshaving a focusing or defocusing effect on the light beam, such as byusing an appropriate transfer device as will be outlined in furtherdetail below. As further used herein, a light spot generally refers to avisible or detectable round or non-round illumination of an article, anarea or object by a light beam.

The first and second optical sensors may be sensitive in one or more ofthe ultraviolet, the visible or the infrared spectral range. The firstand second optical sensors may be sensitive in one and the same spectralrange or may have differing spectral sensitivities.

As further used herein, a fluorescent waveguiding sheet generally refersto an element with both waveguiding properties and fluorescentproperties. Therein, waveguiding generally refers to the property or aplurality of an element to guide the light in one or more of theultraviolet, visible or the infrared spectral range by internalreflection, specifically by internal total reflection. The term“fluorescence” generally refers to the property of an element or amaterial to emit secondary light, also referred to as fluorescencelight, in one or more of the ultraviolet, visible or infrared spectralrange, in response to excitation by electromagnetic radiation, alsoreferred to as primary radiation or excitation radiation, such asprimary light or excitation light. In most cases, the emitted light,fluorescence light or secondary light has a longer wavelength and alower energy than the primary radiation. The primary radiation typicallyinduces the presence of excited states within the fluorescent material,such as so-called excitons. Typically, excited state decay times forphoton emissions with energies from the UV to near infrared are withinthe range of 0.5 to 20 nanoseconds. Other examples, however, arefeasible within the present invention. Similarly, as used herein, theterm “fluorescent material” generally refers to a material havingfluorescence properties. The term “fluorescence light” generally refersto the secondary light generated during the above-mentioned fluorescenceprocess.

For potential embodiments of the fluorescent waveguiding sheet,generally, reference may be made to the so-called “Q-Foil Technology”,as disclosed e.g. in the above-mentioned article by P. Bartu, R. Koeppe,N. Arnold, A. Neulinger, L. Fallon, and S. Bauer, Conformable large-areaposition-sensitive photodetectors based on luminescence collectingsilicone waveguides, J. Appl. Phys. 107, 123101 (2010). Fluorescentwaveguiding sheets and/or second optical sensors as disclosed thereinmay also be used in the context of the present invention, within thesecond optical sensor.

The fluorescent waveguiding sheet, as will be outlined in further detailbelow, specifically may be an element or may comprise an element whichhas a sheet-like shape or which is a sheet. As used herein, a “sheet”generally refers to an element which has a lateral extension, such as adiameter or an equivalent diameter, which significantly exceeds athickness of the element, such as by at least a factor of 5, morepreferably by at least a factor of 10 or even more preferably by atleast a factor of 20, a factor of 50 or even a factor of 100. The sheetspecifically may be flexible, deformable or rigid.

As will be outlined in further detail below, the fluorescent waveguidingsheet specifically may be or may comprise a transparent material,specifically a transparent sheet. The transparency may be a transparencyof at least 50 to 70% in the visible spectral range or in a partthereof, such as in a range of 500 nm to 700 nm. Other embodiments arefeasible.

As further used herein, the term “sensitive area” generally refers to atwo-dimensional or three-dimensional region of an element, specificallyof the fluorescent waveguiding sheet or the optical sensor, which issensitive to external influences and, e.g., produces at least onereaction in response to an external stimulus. In this case,specifically, the sensitive area may be sensitive to an opticalexcitation. The sensitive area specifically may be a part of a surfaceor the volume of the fluorescent waveguiding sheet, such as the wholesurface of the fluorescent waveguiding sheet or a part thereof.

As further used herein, the term “fluorescent waveguiding sheet isoriented towards the object” generally refers to the situation that thesurface of the fluorescent waveguiding sheet or a part of this surface,specifically the sensitive area, is fully or partially visible from theobject. Specifically, at least one interconnecting line between at leastone point of the object and at least one point of the sensitive area mayform an angle with a surface element of the sensitive area or of thefluorescent waveguiding sheet which is different from 0°, such as anangle in the range of 20°-90°. Other embodiments, however, are feasible.

Most preferably, however, the at least one fluorescent waveguidingsheet, the sensitive area or a part thereof is oriented essentiallyperpendicular to an optical axis of the optical sensor and/or of thedetector.

As further used herein, the term “edge” of the fluorescent waveguidingsheet generally refers to a boundary of the at least one fluorescentwaveguiding sheet, such as a side boundary or side edge or a front orback face of the fluorescent waveguiding sheet. Thus, as the skilledperson will recognize, the term “edge” of the fluorescent waveguidingsheet may generally refer to an interface or boundary between thefluorescent waveguiding sheet and a surrounding atmosphere, such as air.Specifically, the edge may be a border of a second light-sensitive areaformed by the fluorescent waveguiding sheet. The term “located at”generally refers to the fact that the photosensitive elements are eitherlocated directly on the edge or in close proximity to the edge. As anexample, at least 50% of the light emerging from the edge into thedirection of the photosensitive element may be collected by therespective photosensitive element, without being lost by scattering,beam widening or other losses. As an example, the photosensitive elementmay be located at a position spaced apart from the edge of no more than10 mm, more preferably of no more than 5 mm. It shall be noted, however,that other embodiments are feasible for connecting the fluorescencelight. Most preferably, all photosensitive elements are located relativeto their respective edges of the fluorescent waveguiding sheet in thesame way, in order to provide similar measurement conditions for allphotosensitive elements.

The at least one photosensitive element located at the at least one edgeof the fluorescent waveguiding sheet may, as an example, be fully orpartially located in the same plane as the fluorescent waveguiding sheetand/or may fully or partially be located in a different plane. In thelatter case, as will be outlined in further detail below, as an example,an optical coupling between the edge of the fluorescent waveguidingsheet and the at least one photosensitive element may take place, byusing at least one optical coupling element. Further, in case aplurality of photosensitive elements is provided in the second opticalsensor, at least one of the photosensitive elements may be located inthe same plane as the fluorescent waveguiding sheet and at least one ofthe photosensitive elements may be located outside the plane of thefluorescent waveguiding sheet. Further, a direction of view of the atleast one photosensitive element may be parallel to the plane of thefluorescent waveguiding sheet or may be directed otherwise, such asperpendicular to the plane. Therein, when talking about a “plane” of thefluorescent waveguiding sheet, this term does not necessarily imply thatthe fluorescent waveguiding sheet is fully planar. Thus, as an example,the fluorescent waveguiding sheet may also be curved or bent, and theplane of the fluorescent waveguiding sheet at the location of the atleast one photosensitive element may be a local tangential plane.

The term “edge” of the fluorescent waveguiding sheet, as used herein,may refer to a straight line or straight border area of the fluorescentwaveguiding sheet, in the following also referred to as a “straightedge”, or may also refer to a non-straight line or non-straight borderarea of the fluorescent waveguiding sheet, such as a corner of thefluorescent waveguiding sheet. Thus, the at least one photosensitiveelement or, in case a plurality of photosensitive elements is provided,at least one of the photosensitive elements, may also be located at atleast one corner of the fluorescent waveguiding sheet, such as at atleast one corner of the second light-sensitive area formed by thefluorescent waveguiding sheet. Thus, specifically, the edge may comprisea rim or a portion of a rim of the fluorescent waveguiding sheet, suchas a corner and/or a straight rim portion. Additionally oralternatively, however, the edge may also comprise a flat surface of thefluorescent waveguiding sheet, such as a front side or back side.

As already outlined above, in order to improve feeding fluorescencelight guided from the light spot towards the at least one photosensitiveelement into the at least one respective photosensitive element, atleast one optical coupling may take place, by using at least one opticalcoupling element in between the fluorescent waveguiding sheet and therespective photosensitive element. Thus, the at least one photosensitiveelement, or, in case a plurality of photosensitive elements is provided,at least one of the photosensitive elements may be optically coupled tothe fluorescent waveguiding sheet by at least one optical couplingelement configured for at least partially coupling the fluorescencelight guided by the fluorescent waveguiding sheet out of the fluorescentwaveguiding sheet and, preferably, at least partially into thephotosensitive element. As used herein, the term “optical couplingelement” generally refers to an arbitrary element which is configuredfor one or more of disturbing, diminishing or interrupting an internaltotal reflection within the fluorescent waveguiding sheet which takesplace during waveguiding within the fluorescent waveguiding sheet. Thus,as an example, the optical coupling element may be an arbitrarytransparent element having an index of refraction in between an index ofrefraction of the fluorescent waveguiding sheet and the photosensitiveelement and/or the ambient atmosphere, such as air. Thus, as an example,in case an index of refraction of the fluorescent waveguiding sheet isdenoted by n1, and an index of refraction of the photosensitive elementis denoted by n2, an index of refraction n3 of the optical couplingelement may be n1<n3<n2 or n1>n3>n2.

The optical coupling element may be in direct contact with thefluorescent waveguiding sheet, such as with at least one surface, suchas a surface facing the object and/or a surface facing away from theobject, of the fluorescent waveguiding sheet. Further, the opticalcoupling element may also be in direct contact with the at least onephotosensitive element. Further, for each photosensitive element, anindependent optical coupling element may be provided, or alternatively,a plurality of photosensitive elements may share a common opticalcoupling element, or, alternatively, a plurality of optical couplingelements may be coupled to one photosensitive element.

Various ways of optical coupling are generally known to the skilledperson and may also be used for coupling fluorescence light from thefluorescent waveguiding sheet into the photosensitive element. Thus, asan example, the at least one optical coupling element may comprise atleast one element selected from the group consisting of: a portion oftransparent adhesive attaching the photosensitive element to thefluorescent waveguiding sheet; an etched portion within the fluorescentwaveguiding sheet, such as within a surface of the fluorescentwaveguiding sheet, such as a surface facing the object and/or facingaway from the object; a scratch in the fluorescent waveguiding sheet,such as a scratch in the surface of the fluorescent waveguiding sheet,such as a surface facing the object and/or facing away from the object;a prism. Additionally or alternatively, other optical coupling elementsare generally known and may also be used in the present invention. In amost simple case, the at least one photosensitive element may simply beadhered or glued to a surface of the fluorescent waveguiding sheet, suchas by at least one transparent glue or adhesive, e.g. a transparentepoxy. Other ways of optical coupling are feasible.

The first optical sensor and the second optical sensor specifically mayhave an essentially identical electrical capacitance. When referring toa capacitance of an optical sensor, generally, the capacity C as may bedetermined in an oscillating circuit is referred to, as the personskilled in the art of electronics generally will recognize. Thus, whenimplementing the first optical sensor or, alternatively, the secondoptical sensor into an oscillating circuit, the oscillating circuit, asan example, may have essentially the same resonance frequency. As usedherein, the term “essentially identical” generally refers to the factthat, as an example, the capacitance of the first optical sensor and thecapacitance of the second optical sensor differ by no more than a factorof 10, more preferably a by no more than a factor of 5 or even by nomore than a factor of 2. Further, when referring to the capacitance ofthe second optical sensor, reference is made to the capacitance of theat least one photosensitive element of the second optical sensor, sincethe photosensitive element determines the electrical behavior and,specifically, the high-frequency behavior of the second optical sensor.In case a plurality of photosensitive elements are present in the secondoptical sensor, the capacitance of at least one of these photosensitiveelements is meant.

As outlined above, for example with respect to the first preferredembodiment, for evaluating the first and second sensor signals at leastone predetermined or determinable relationship between the first andsecond sensor signals and the longitudinal coordinate may be used. Withrespect to evaluation of the first and second sensor signals referencecan be made to the description of the first preferred embodiment. Thus,the evaluation device specifically may be configured for deriving aquotient signal Q by dividing the first and second sensor signals, bydividing multiples of the first and second sensor signals or by dividinglinear combinations of the first and second sensor signals. Theevaluation device may be configured for determining the longitudinalcoordinate by evaluating the quotient signal Q.

Typically, in the setup described above, Q may be a monotonous functionof the longitudinal coordinate of the object and/or of the size of thelight spot such as the diameter or equivalent diameter of the lightspot. Thus, as an example, specifically in case linear optical sensorsare used, the quotient Q=s₁/s₂ is a monotonously decreasing function ofthe size of the light spot. This is due to the fact that, in thepreferred setup described above, the first light-sensitive area is fullyilluminated and preferably is located in the center of the light spot,such as on the optical axis. Consequently, with increasing diameter ofthe light spot, the peak intensity of the illumination, which mainly maybe located in the first light-sensitive area, decreases and, thus, thefirst sensor signal decreases. The second sensor signal, however, may bemore or less independent from the size of the light spot, as long as thelight spot, except for the shadow created by the first optical sensor,is located on the second light-sensitive area. Consequently, the secondsensor signal may remain more or less constant. The quotient of thefirst and second sensor signals, thus, continuously decreases withincreasing diameter of the light beam or diameter of the light spot onthe first and second light-sensitive areas. The quotient, further, ismainly independent from the total power of the light beam, since thetotal power of the light beam forms a factor both in the first sensorsignal and in the second sensor signal. Consequently, the quotient Q mayform a secondary signal which provides a unique and unambiguousrelationship between the first and second sensor signals and the size ordiameter of the light beam. Since, on the other hand, the size ordiameter of the light beam is dependent on a distance between theobject, from which the light beam propagates towards the detector, andthe detector itself, i.e. dependent on the longitudinal coordinate ofthe object, a unique and unambiguous relationship between the first andsecond sensor signals and the longitudinal coordinate may exist. For thelatter, reference e.g. may be made to WO 2014/097181 A1. Thepredetermined relationship may be determined by analyticalconsiderations, such as by assuming a linear combination of Gaussianlight beams, by empirical measurements, such as measurements measuringthe first and second sensor signals or a secondary signal derivedthereof as a function of the longitudinal coordinate of the object, orboth.

The first optical sensor and the second optical sensor may be positionedin various ways. Thus, in a first example, the first optical sensor ispositioned in front of the second optical sensor, such that the lightbeam, firstly, passes the first optical sensor and, secondly,thereafter, reaches the second optical sensor. Alternatively, however, areverse order is possible. Thus, as an alternative, the second opticalsensor may be placed in front of the first optical sensor, such that thelight beam, firstly, reaches the second optical sensor, fully orpartially passes through the second optical sensor and, secondly,thereafter, reaches the first optical sensor. The latter alternative ismainly possible due to the fact that the fluorescent waveguiding sheetof the second optical sensor may, in this embodiment or otherembodiments, be embodied fully or partially transparent, specifically inthe spectral range of the light beam. Thus, the smaller first opticalsensor may be placed on a reverse side of the second optical sensor,from the perspective of the object.

The second optical sensor and, more specifically, the fluorescentwaveguiding sheet of the second optical sensor, may be placed in variouspositions in one or more beam paths. Thus, as an example, the secondoptical sensor and/or the fluorescent waveguiding sheet of the secondoptical sensor may be placed close to a focal point within a beam path.Alternatively, however, specifically in order to improve the function ofsumming, the second optical sensor may also be placed away from thefocal point, such as by one, two or more than two Rayleigh wavelengths.

As outlined above, the second optical sensor comprises at least onephotosensitive element, from which the at least one second sensor signalarises. Therein, precisely one photosensitive element may be used, suchas for collecting at least a part of the fluorescence light and forcreating a second sensor signal in response. Alternatively, however, thesecond optical sensor may comprise two, three, four or morephotosensitive elements which, preferably, are located at at least twoedges of the fluorescent waveguiding sheet, such as at least twoopposing portion of a rim of the fluorescent waveguiding sheet. Thephotosensitive elements may be capable of detecting fluorescence lightguided from the light spot towards the photosensitive elements by thefluorescent waveguiding sheet and capable of generating at least onesensor signal each. Thus, a plurality of second sensor signals mayexist.

In case at least two photosensitive elements are provided, being locatedat at least two edges of the fluorescent waveguiding sheet, a pluralityof possibilities exists. Thus, as an example, the at least twophotosensitive elements may be located at one or more of: at least twostraight edges of the fluorescent waveguiding sheet, such as at leasttwo opposing edges, such as opposing rim portions; at least two cornersof the fluorescent waveguiding sheet, such as at least two opposingcorners; at least one corner of the fluorescent waveguiding sheet and atleast one straight edge, such as at least one straight rim portion, ofthe fluorescent waveguiding sheet. Other possibilities are generallygiven.

The detector and, preferably, the evaluation device may specifically beembodied to combine at least two of these second sensor signals to format least one common second sensor signal. This at least one commonsecond sensor signal, specifically, may be used, in conjunction with thefirst second sensor signal, for determining the longitudinal coordinate.Additionally, at least one common second sensor signal may be used foracquiring additional information, such as at least one item ofinformation on a transversal position of the object or a part thereof,as will be outlined in further detail below.

Thus, for combining the at least two second sensor signals, theevaluation device may comprise at least one summing device configuredfor summing up the sensor signals of the at least two photosensitiveelements, thereby forming a sum signal S. As an example, the sum signalmay be derived by using the formulas=Σ _(i) c _(i) s _(i)  (1)with s_(i) denoting the second sensor signals, with i=1 . . . N with Nbeing a positive integer indicating the number of the photosensitiveelements or a smaller positive integer, and with c_(i) being respectivecalibration coefficients.

As outlined above, the evaluation device specifically may be configuredto determine the at least one longitudinal coordinate z of the object byusing at least one predetermined relationship between the first sensorsignal, the at least one second sensor signal and the longitudinalcoordinate z. In case a plurality of second sensor signals is given, asoutlined above, at least one combined second sensor signal may be usedin this relationship. Thus, specifically, the sum signal S may be used.Thus, as an example, the evaluation device may be configured todetermine the at least one longitudinal coordinate z by using at leastone predetermined relationship between the first sensor signal, the sumsignal S of the second sensor signals and the longitudinal coordinate z.

In addition to the at least one longitudinal coordinate, the detectormay further be configured for determining at least one transversalcoordinate of the object and/or of a part thereof. For this purpose, thedetector may comprise at least one transversal optical sensor. Varioustransversal sensors are generally known in the art, such as thetransversal sensors disclosed in WO 2014/097181 A1 and/or WO 2014/198629A1 and/or other position-sensitive devices (PSDs), such as quadrantdiodes, CCD or CMOS chips or the like. Thus, as an example, the detectoraccording to the present invention may comprise one or more PSDsdisclosed in R. A. Street (Ed.): Technology and Applications ofAmorphous Silicon, Springer-Verlag Heidelberg, 2010, pp. 346-349. Otherembodiments are feasible. As an example, a part of the light beam may besplit off within the detector, by at least one beam splitting element.The split-off portion, as an example, may be guided towards atransversal sensor, such as a CCD or CMOS chip or a camera sensor, and atransversal position of a light spot generated by the split-off portionon the transversal sensor may be determined, thereby determining atleast one transversal coordinate of the object. Preferably, however, theat least one second optical sensor itself may be used as a transversaloptical sensor, for determining at least one transversal coordinate ofthe object. This setup is specifically advantageous in case a pluralityof photosensitive elements is used in the second optical sensor, such asin different positions and located at different edges of the fluorescentwaveguiding sheet. The evaluation device may be configured to determineat least one transversal coordinate x, y of the object by evaluating thesensor signals of the photosensitive elements. The evaluation device maybe adapted to combine the information of the longitudinal coordinate andthe transversal coordinate and to determine a position of the object inspace.

Thus, generally, the evaluation device may further be configured todetermine at least one transversal coordinate x, y of the object byevaluating the second sensor signals of the photosensitive elements. Forthe purpose of determining the at least one transversal coordinate inone or more directions, the sensor signals of the photosensitiveelements may be compared. Thus, as is evident to the skilled person, thesensor signal of a respective photosensitive element, which representsthe fluorescence light guided to the photosensitive elements by thefluorescent waveguiding sheet from the light spot and, thus, from thelocation of generation of the fluorescence light, depends on a distancebetween the light spot and the respective photosensitive element.Generally, with an increasing distance between the light spot and thephotosensitive element, the sensor signal of the respectivephotosensitive element will decrease, such as due to losses duringwaveguiding and/or due to spreading of the fluorescence light. Bycomparing the sensor signals of the photosensitive elements located atdifferent, known positions, the lateral or transversal position of thelight spot on the fluorescent waveguiding sheet may be determined and,therefrom, by using e.g. a known or determinable relationship betweenthe transversal position of the light spot and the transversalcoordinate of the object, the transversal coordinate of the object.Again, empirical relationships and/or semiempirical relationships and/oranalytical relationships may be used, such as the lens equation which isgenerally known to the skilled person.

Thus, the evaluation device specifically may be configured forevaluating at least two second sensor signals of at least two differentphotosensitive elements. As an example, these at least two second sensorsignals may be compared in order to determine a transversal position ofthe light spot on the fluorescent waveguiding sheet and/or for directlyderiving a transversal position of the object. Thus, as an example, adifference between at least two second sensor signals may be determinedin order to derive at least one item of information on a transversalposition of the object. Consequently, the evaluation device may compriseat least one subtracting device configured to form at least onedifference signal D between second sensor signals generated by at leasttwo of the photosensitive elements. The second sensor signals maycomprise at least one second sensor signal s₂₁ and at least one secondsensor signal s₂₂, wherein the at least one difference signal D isproportional to a·s₂₁−b·s₂₂:D˜a·s ₂₁ −b·s ₂₂,  (2)with a, b being real number coefficients, preferably with a=1 and b=1.Additionally or alternatively, the at least one difference signal D maybe derived according to the formula:D=(a·s ₂₁ −b·s ₂₂)/(a·s ₂₁ +b·s ₂₂).  (3)

The subtracting device specifically may be configured to form at leastone first difference signal D_(X) from which at least one firsttransversal coordinate x of the object is derived. Additionally oralternatively, the subtracting device may be further configured to format least one second difference signal D_(y) from which at least onesecond transversal coordinate y of the object is derived. Thus, thefirst difference signal D_(X) may be generated from at least two secondsensor signals s_(x1), s_(x2) of at least two photosensitive elementslocated at opposing edges of the waveguiding sheet in a first dimension.The second difference signal D_(y) may be generated from at least twosecond sensor signals s_(y1), s_(y2) of at least two photosensitiveelements located at opposing edges of the waveguiding sheet in a seconddimension. The at least one first difference signal D_(X) may be derivedaccording to the formulaD _(X)=(a·s _(x1) −b·s _(x2))/(a·s _(x1) +b·s _(x2)),  (4)and the at least one second difference signal D_(y) may be derivedaccording to the formulaD _(y)=(c·s _(y1) −d·s _(y2))/(c·s _(y1) +d·s _(y2)),  (5)with a, b, c, d being real number coefficients, preferably with a=1,b=1, c=1 and d=1.

As outlined above, in case the second optical sensor comprises aplurality of photosensitive elements, the second optical sensorspecifically may comprise at least two photosensitive elements locatedat opposing edges of the fluorescent waveguiding sheet. Thephotosensitive elements may comprise at least one first pair ofphotosensitive elements located at opposing edges of the fluorescentwaveguiding sheet in a first dimension of a coordinate system, and thephotosensitive elements may further comprise at least one second pair ofphotosensitive elements located at opposing edges of the fluorescentwaveguiding sheet in a second dimension of the coordinate system.

Further optional details may refer to the at least one fluorescentwaveguiding sheet and/or to the second light-sensitive area. Thus, as anexample, the second light-sensitive area specifically may be ahomogeneous light-sensitive area. Thus, the second light-sensitive areamay not be subdivided physically into partial areas, such as pixels.Contrarily, the sensitive area may be one homogeneous area which forms auniform fluorescence.

The second light-sensitive area specifically may be a large sensitivearea. Thus, as an example, the second light-sensitive area may have asurface of at least 5 mm², preferably of at least 10 mm², morepreferably of at least 100 mm², more preferably of at least 400 mm². Asan example, the sensitive area may have a surface of 5 mm² to 10,000mm², such as 100 mm² to 2500 mm². The large-area design of the sensitivearea is advantageous in many ways. Thus, specifically, by increasing thesurface of the second light-sensitive area, a resolution of thedetermination of the transversal coordinates may be increased. Further,the field of view of the detector, e.g. the viewing angle, may bewidened by using a large second light-sensitive area.

The fluorescent waveguiding sheet specifically may comprise at least oneplanar sheet. Therein, however, slight curvatures still may betolerated. In other embodiments, however, the fluorescent waveguidingsheet may also be embodied as a curved fluorescent waveguiding sheet,such as in order to provoke specific optical effects which might bedesirable in certain applications. Thus, one of the advantages of thepresent detector may reside in the fact that the fluorescent waveguidingsheet specifically may be curved, flexible or having a specificgeometry.

The fluorescent waveguiding sheet may have a thickness of 10 μm to 3 mm,preferably a thickness of 100 μm to 1 mm, e.g. a thickness of 50 μm to 2mm. The thickness of the waveguiding sheet specifically may be adimensioned of the waveguiding sheet along an optical axis of thedetector. The thickness may be adapted to improve our optimizewaveguiding properties of the fluorescence light.

The fluorescent waveguiding sheet may fully or partially be rigid or,alternatively, may fully or partially be embodied flexible ordeformable.

The fluorescent waveguiding sheet may comprise at least one matrixmaterial. As used herein, the term “matrix material” generally refers toa material which forms the main part of the fluorescent waveguidingsheet and which defines the main body of the fluorescent waveguidingsheet. As an example, the matrix material may be a material which iscapable of receiving one or more additional materials that therein, suchas by intermixing, chemical bonding, dispersion or solving. Thus, the atleast one fluorescent material may be one or more of mixed into thematrix material, dispersed into the matrix material, chemically bound tothe matrix material or dissolved in the matrix material.

The matrix material specifically may be or may comprise at least oneplastic material. The plastic material specifically may be or maycomprise at least one polymer material. The plastic material, as anexample, may be or may comprise at least one material selected from thegroup consisting of a polycarbonate, a poly(methyl methacrylate), apolystyrene, a polyurethane, a polypropylene, a polyethyleneterephthalate, a polyvinylchloride. Other materials, however, arefeasible.

The fluorescent material specifically may comprise an arbitraryfluorophore. Specifically, the at least one fluorescent material maycomprise at least one fluorescent dye. A wide variety of fluorescentdyes is generally known to the skilled person. Thereof, as outlinedabove, most of these fluorescent dyes exhibit the above-mentionedsaturation effects, thereby rendering the fluorescence being a nonlinearfunction of the excitation. As an example, the fluorescent dye may becapable of being saturated by the light beam, such that a total power ofthe fluorescence light generated by the fluorescent dye is a nonlinearfunction of an intensity of the light beam. Specifically, the totalpower of the fluorescence light may be sub-proportional to the intensityof the light beam.

The fluorescent dye specifically may comprise at least one organicfluorescent dye. Inorganic dyes, however, may be used additionally oralternatively. The fluorescent dye specifically may be selected from thegroup consisting of: a xanthene derivative, preferably one or more offluorescein, rhodamine, oregon green, eosin, texas red, or a derivativeof any component thereof; a cyanine derivative, preferably one or moreof cyanine, indocarbocyanine, oxacarbocyanine, thiacarbocyanine,merocyanine, or a derivative of any component thereof; a squarainederivative or a ring-substituted squaraine, preferably one or more ofSeta, SeTau, and Square dyes, or a derivative of any component thereof;a naphthalene derivative, preferably one or more of a dansyl or a prodanderivative thereof; a coumarin derivative; a oxadiazole derivative,preferably one or more of pyridyloxazole, nitrobenzoxadiazole,benzoxadiazole, or a derivative of any component thereof; an anthracenederivative, preferably one or more of an anthraquinone, DRAQ5, DRAQ7,CyTRAK orange, or a derivative of any component thereof; a pyrenederivative, preferably cascade blue; an oxazine derivative, preferablyone or more of nile red, nile blue, cresyl violet, oxazine 170, or aderivative of any component thereof; an acridine derivative, preferablyone or more of proflavin, acridine orange, acridine yellow, or aderivative of any component thereof; an arylmethine derivative,preferably one or more of auramine, crystal violet, malachite green, ora derivative of any component thereof; a tetrapyrrole derivative,preferably one or more of porphin, phthalocyanine, bilirubin; a rylenedye or any derivative thereof, such as a perylene dye; a naphthaleneimid or perylene imide; a naphthoilene benzimidazole dye such aspublished in WO 2012/168395 A1; or a derivative of any component of thelisted substances. It shall be noted, however, that other dyes may beused additionally or alternatively.

Further optional details of the detector referred to the at least onephotosensitive element or to the plurality of photosensitive elements.Thus, as an example, the at least one photosensitive element maycomprise at least one photodiode, preferably at least one inorganicphotodiode, such as a silicon photodiode. The at least onephotosensitive element may comprise at least one elongatedphotosensitive element extending along at least one segment of an edgeor rim portion of the waveguiding sheet.

As outlined above, the fluorescent waveguiding sheet specifically may bea rectangular fluorescent waveguiding sheet, preferably a squarewaveguiding sheet. In the setup, as an example, the photosensitiveelements may be located at each of the four edges, such as at each ofthe four straight rim sections or rim portions, of the waveguidingsheet. Other embodiments are feasible.

The first and second optical sensors each, independently, may be opaque,transparent or semitransparent. For the sake of simplicity, however,opaque sensors which are not transparent for the light beam, may beused, since these opaque sensors generally are widely commerciallyavailable. The fluorescent waveguiding sheet, however, may fully orpartially be transparent.

The first optical sensor specifically may be a uniform sensor having auniform light-sensitive area. Thus, specifically, the first opticalsensor specifically may be a non-pixelated optical sensor.Alternatively, however, the at least one first optical sensor may alsocomprise one or more pixelated sensors, each having two or more pixels.Other embodiments are feasible.

Similarly, as discussed in further detail below, the at least one secondoptical sensor may comprise precisely one second optical sensor or aplurality of optical sensors. Further, the at least one fluorescentwaveguiding sheet of the second optical sensor may be precisely onecoherent fluorescent waveguiding sheet. Alternatively, however, the atleast one second optical sensor also may comprise a plurality of secondoptical sensors. The latter alternative, as an example, may be realizedby providing a plurality of fluorescent waveguiding sheets. Thus, aplurality of fluorescent waveguiding sheets may be provided, each havingone or more photosensitive elements. Other embodiments are feasible.

The detector, such as of the second optical sensor, may further compriseat least one optical filter element, preferably at least one opticalshort-pass filter. Thus, as an example, only photons which are capableof exciting fluorescence light may pass through to the fluorescentwaveguiding sheet. Other embodiments, however, are feasible.

The first and second optical sensors specifically may be arrangedlinearly in one and the same beam path of the detector. Thus, as anexample, the first and second optical sensors may be arrangedconcentrically with respect to an optical axis of the detector,specifically with the first optical sensor being placed in front of thesecond optical sensor. It shall be noted, however, that otherembodiments are feasible, such as embodiments with the first opticalsensor and the second optical sensor being placed in separate anddifferent beam paths, wherein the beam path of the detector is split byone or more beam-splitting elements. The linear setup with the first andsecond optical sensors being placed in one and the same beam path,however, is preferred, due to the simple optical setup and the lowvolume required for the detector. Thus, the present inventionspecifically allows for a simple, efficient and inexpensive opticalsetup.

As outlined above, the first optical sensor specifically may be asemiconductor sensor, preferably an inorganic semiconductor sensor, morepreferably a photodiode and most preferably a silicon photodiode. As anexample, the first optical sensor may be a uniform sensor having asingle light-sensitive area. As an example, a commercially availablesilicon photodiode may be used.

In a further preferred embodiment the detector may comprise

-   -   at least one angle dependent optical element adapted to generate        at least one light beam having at least one beam profile        depending on an angle of incidence of an incident light beam        propagating from the object towards the detector and        illuminating the angle dependent optical element;    -   at least two optical sensors, wherein each optical sensor has at        least one light sensitive area, wherein each optical sensor is        designed to generate at least one sensor signal in response to        an illumination of its respective light-sensitive area by the        light beam generated by the angle dependent optical element;    -   the at least one evaluation device being configured for        determining at least one longitudinal coordinate z of the object        by evaluating the quotient signal Q from the sensor signals.

The angle dependent optical element may comprise at least one opticalelement selected from the group consisting of: at least one opticalfiber, in particular at least one multifurcated optical fiber, inparticular at least one bifurcated optical fiber; at least onediffractive optical element, at least one angle dependent reflectiveelement, at least one diffractive grating element, in particular a blazegrating element; at least one aperture stop; at least one prism; atleast one lens; at least one lens array, in particular at least onemicrolens array; at least one optical filter; at least one polarizationfilter; at least one bandpass filter; at least one liquid crystalfilter, in particular a liquid crystal tunable filter; at least oneshort-pass filter; at least one long-pass filter; at least one notchfilter; at least one interference filter; at least one transmissiongrating; at least one nonlinear optical element, in particular onebirefringent optical element.

At least one of the light-sensitive areas may be oriented towards theobject. Specifically, at least one interconnecting line between at leastone point of the object and at least one point of the respectivelight-sensitive area may form an angle with a surface element of thelight-sensitive area which is different from 0°, such as an angle in therange of 20° to 90°, preferably 80 to 90° such as 90°. Thus, when theobject is located on the optical axis or close to the optical axis, thelight beam propagating from the object towards the detector may beessentially parallel to the optical axis. Additionally or alternatively,at least one of the light-sensitive areas may be oriented differing froman orientation towards the object. For example, at least one of theoptical sensors may be oriented perpendicular or under an arbitraryangle to the optical axis and with respect to the object. The angledependent optical element may be adapted to generate the light beam suchthat the light beam impinges on the light-sensitive areas. For example,in case at least one of the light-sensitive areas is oriented under thearbitrary angle with respect to the optical axis, the angle dependentoptical element may be adapted to guide the light beam onto thelight-sensitive area.

As used herein, the term “angle dependent optical element” refers to anoptical element adapted to generate the at least one light beam havingat least one beam profile depending on the angle of incidence of theincident light beam propagating from the object towards the detector andilluminating the angle dependent optical element. In particular, theangle dependent optical element may be adapted to influence and/orchange and/or adjust the beam profile of the incident light beam. Forexample, the angle dependent optical element may have one or more ofangle dependent transmission properties, angle dependent reflectionproperties or angle dependent absorption properties. The light beamgenerated by the angle dependent optical element may comprise at leastone transmission light beam and/or at least one reflection light beam.The angle of incidence may be measured with respect to an optical axisof the angle dependent optical element.

An electromagnetic wave impinging on a first side, for example a surfaceand/or an entrance, of the angle dependent optical element may bepartly, depending on the properties of the angle dependent opticalelement, absorbed and/or reflected and/or transmitted. The term“absorption” refers to a reduction of power and/or intensity of theincident light beam by the angle dependent optical element. For example,the power and/or intensity of the incident light beam may be transformedby the angle dependent optical element to heat or another type ofenergy. As used herein, the term “transmission” refers to a part of theelectromagnetic wave which is measurable outside the angle dependentoptical element in a half-space with angles from 90° and higher withrespect to the optical axis. For example, transmission may be aremaining part of the electromagnetic wave impinging on the first sideof the angle dependent optical element, penetrating the angle dependentoptical element and leaving the angle dependent optical element at asecond side, for example an opposite side and/or an exit. The term“reflection” refers to a part of the electromagnetic wave which ismeasurable outside the angle dependent optical element in a half-spacewith angles below 90° with respect to the optical axis. For example,reflection may be a change in direction of a wavefront of the incidentlight beam due to interaction with the angle dependent optical element.

The total power of the electromagnetic wave impinging on the angledependent optical element may be distributed by the angle dependentoptical element in at least three components, i.e. an absorptioncomponent, a reflection component and a transmission component. A degreeof transmission may be defined as power of the transmission componentnormalized by the total power of the electromagnetic wave impinging onthe angle dependent optical element. A degree of absorption may bedefined as power of the absorption component normalized by the totalpower of the electromagnetic wave impinging on the angle dependentoptical element. A degree of reflection may be defined as power of thereflection component normalized by the total power of theelectromagnetic wave impinging on the angle dependent optical element.

As used herein, “angle dependent transmission” refers to the fact thatthe degree of transmission depends on the angle of incidence at whichthe incident light beam propagating from the object towards the detectorimpinges on the angle dependent optical element. As outlined above, theangle of incident may be measured with respect to an optical axis of theangle dependent optical element. The angle dependent optical element maybe arranged in the direction of propagation behind at least one transferdevice. The transfer device may, for example, comprise at least onecollimating lens. The angle dependent optical element may be designed toweaken rays impinging with larger angles compared to rays impinging witha smaller angle. For example, the degree of transmission may be highestfor light rays parallel to the optical axis, i.e. at 0°, and maydecrease for higher angles. In particular, at at least one cut-off anglethe degree of transmission may steeply fall to zero. Thus, light rayshaving a large angle of incidence may be cut-off.

As used herein, the term “angle dependent absorption” refers to the factthat the degree of absorption depends on the angle of incidence at whichthe incident light beam propagating from the object towards the detectorimpinges on the angle dependent optical element. As used herein, theterm “angle dependent absorption” refers to the fact that a degree ofabsorption depends on the angle of incidence at which the incident lightbeam propagating from the object towards the detector impinges on theangle dependent optical element. For example, photon energy and/orintensity of the light beam propagating from the object to the detectormay be reduced depending on the angle of incidence.

As used herein, the term “angle dependent reflection” refers to the factthat the degree of reflection depends on the angle of incidence at whichthe incident light beam propagating from the object towards the detectorimpinges on the angle dependent optical element.

For example, the angle dependent optical element comprises at least oneoptical fiber. The optical fiber may be designed such that the degree oftransmission may be highest for incoming light rays parallel, i.e. at anangle of 0°, to the optical fiber, neglecting reflection effects. Theoptical fiber may be designed such that for higher angles, for exampleangles from 1° to 10°, the degree of transmission may decrease smoothlyto around 80% of the degree of transmission for parallel light rays andmay remain at this level constantly up to an acceptance angle of theoptical fiber. As used herein, the term “acceptance angle” may refer toan angle above which total reflection within the optical fiber is notpossible such that the light rays are reflected out of the opticalfiber. The optical fiber may be designed that at the acceptance angle,the degree of transmission may steeply fall to zero. Light rays having alarge angle of incidence may be cutoff.

The optical fiber may be adapted to transmit at least parts of theincident light beam which are not absorbed and/or reflected, between twoends of the optical fiber. The optical fiber may have a length and maybe adapted to permit transmission over a distance. The optical fiber maycomprise at least one material selected from the group consisting of:silica, aluminosilicate glass, germane silicate glass, fluorozirconate,rare earth doped glass, fluoride glass, chalcogenide glasses, sapphire,doped variants, especially for silica glass, phosphate glass, PMMA,polystyrene, fluoropolymers such as poly(perfluoro-butenylvinyl ether),or the like. The optical fiber may be a single or multi-mode fiber. Theoptical fiber may be a step index fiber, a polarizing fiber, apolarization maintaining fiber, a plastic optical fiber or the like. Theoptical fiber may comprise at least one fiber core which is surroundedby at least one fiber cladding having a lower index of refraction as thefiber core. The fiber cladding may also be a double or multiplecladding. The fiber cladding may comprise a so-called outer jacket. Thefiber cladding may be coated by a so-called buffer adapted to protectthe optical fiber from damages and moisture. The buffer may comprise atleast one UV-cured urethane acrylate composite and/or at least onepolyimide material. In one embodiment, a refractive index of the fibercore may be higher than the refractive index of the fiber claddingmaterial and the optical fiber may be adapted to guide the incominglight beam by total internal reflection below the angle of acceptance.In one embodiment, the optical fiber may comprise at least one hollowcore fiber, also called photonic bandgap fiber. The hollow-core fibermay be adapted to guide the incoming light beam essentially within aso-called hollow region, wherein a minor portion of the light beam islost due to propagation into the fiber cladding material.

The optical fiber may comprise one or more fiber connectors at the endof the fiber. The optical fiber may comprise end caps such as corelessend caps. The optical fiber may comprise one or more of a fiber coupler,a fiber Bragg grating, a fiber polarizer, a fiber amplifier, a fibercoupled diode laser, a fiber collimator, a fiber joint, a fibersplicing, a fiber connector, a mechanical splicing, a fusion splicing,or the like. The optical fiber may comprise a polymer coating.

The optical fiber may comprise at least two or more fibers. The opticalfiber may be at least one multifurcated optical fiber, in particular atleast one bifurcated optical fiber. For example, the bifurcated opticalfiber may comprise two fibers, in particular at least one first fiberand at least one second fiber. The first fiber and the second fiber maybe arranged close to each other at an entrance end of the bifurcatedoptical fiber and may split into two legs separated by a distance at anexit end of the bifurcated optical fiber. The first and second fiber maybe designed as fibers having identical properties or may be fibers ofdifferent type. The first fiber may be adapted to generate at least onefirst transmission light beam and the second fiber may be adapted togenerate at least one second transmission light beam. The bifurcatedoptical fiber may be arranged such that the incident light beam mayimpinge at a first angle of incidence into the first fiber and at asecond angle of incidence, different from the first angle, into thesecond fiber, such that the degree of transmission is different for thefirst transmission light beam and the second transmission light beam.One of the optical sensors may be arranged at an exit end of the firstfiber and the other optical sensor may be arranged at an exit end of thesecond fiber. The optical fiber may comprise more than two fibers, forexample three, four or more fibers. For example, the multifurcated maycomprise multiple fibers wherein each fiber may comprise at least one ofa core, a cladding, a buffer, a jacket, and one or more fibers maypartially or entirely be bundled by a further jacket such as a polymerhose to ensure that the fibers stay close to each other such as at oneend of the fiber.

The detector may comprise a plurality of optical fibers, for example aplurality of single optical fibers or a plurality of multifurcatedoptical fibers. For example, the detector may comprise a plurality ofsingle optical fibers, for example optical fibers having identicalproperties. The optical fibers, i.e. the single optical fibers ormultifurcated optical fibers, may be arranged such that the incidentlight beam may impinge at different angles of incidence into each of theoptical fibers such that the degree of transmission is different foreach of the optical fibers. At the exit ends of each optical fiber atleast one optical sensor may be arranged. Alternatively, at least two ormore of the optical fibers may use the same optical sensor.

The illumination source may be adapted to illuminate the object throughthe angle dependent optical element. The optical fiber may comprise atleast one illumination fiber adapted to transmit at least one incominglight beam generated by the illumination source such that it illuminatesthe object. The illumination source may be adapted to couple the atleast one light beam generated by the illumination source into theillumination fiber. The detector may comprise at least one couplingelement, for example at least one in-coupling element and/or at leastone out-coupling element, which may be arranged in front of and/orbehind the optical fiber. The coupling element may be or may comprise atleast one transfer device.

The detector may comprise a further coupling element, in particular afurther in-coupling element, adapted to couple the light beam travellingfrom the object to the detector into the illumination fiber. The furthercoupling element may be arranged in direction of propagation of thelight beam travelling from the object to the detector in front of theoptical fiber. The further coupling element may be or may comprise atleast one transfer device.

In case the detector comprises a plurality of optical fibers, thedetector may comprise one illumination source or a plurality ofidentical illumination sources and/or a plurality of differentillumination sources. For example, the plurality of illumination sourcesmay comprise at least two illumination sources generating light withdifferent properties such as color or modulation frequencies. In oneembodiment, at least two of the optical fibers of the plurality of theoptical fibers may be illuminated using the same illumination sourceand/or two identical illumination sources. At the exit ends of eachoptical fiber illuminated by the same illumination source and/or byidentical illumination sources at least one optical sensor may bearranged. Alternatively, at least two or more of the optical fibersilluminated by the same illumination source may use the same opticalsensor. Such a detector, in which for a plurality of optical fibers thesame illumination source and same optical sensors are used, may be usedas proximity sensor. In one embodiment, at least two of the opticalfibers of the plurality of optical fibers may be illuminated by using atleast two different illumination sources. At the exit ends of eachoptical fiber at least one optical sensor may be arranged.Alternatively, at least two or more of the optical fibers may use thesame optical sensor.

As outlined above, the distance perpendicular to an optical axis of thedetector between the illumination source and the optical sensors may besmall. The baseline may be less than 0.1 m, preferably less than 0.05 m,more preferably less than 0.025 m. For example, the baseline may be 21mm. In particular in case the angle dependent optical element is anoptical fiber, the baseline may even be smaller than a radius of thetransfer device.

For example, the angle dependent optical element may be an opticalfiber. The illumination source may be guided through an optical fiberwherein the illumination beam may exit the optical fiber behind thetransfer device within a baseline that is smaller than the radius of thetransfer device. The illumination source may be adapted to generate atleast one illumination light beam, wherein the optical fiber guiding theillumination beam may be attached to the transfer device such as by apolymer or glue or the like, to reduce reflections at interfaces withlarger differences in refractive index. For example, the detector may bea compact device without further optical elements, wherein theillumination source may be placed as close as possible to an edge of thetransfer device. Thus, the baseline may be close to half a diameter ofthe transfer device, in particular the lens diameter and housings oflens and light source. For example, the detector may be an even morecompact device, wherein a mirror, in particular a small mirror, may bepositioned in front of the transfer device, in particular in a center,for example a geometrical center, or close to the center of the transferdevice, in order to couple the illumination beam into the beam path.Thus, the baseline may be less than half the diameter of the transferdevice. The illumination source may be arranged such that the baselineis as small as possible. By arranging the illumination source such thatthe direction of propagation of the illumination light beam isessentially parallel to the optical axis and that the illuminationsource and the optical axis are separated by the small baseline, verycompact devices are possible. For example, a distance from the center ofthe transfer device to the illumination source, in particular along aconnecting line from the center of the transfer device to theillumination source, may be preferably less than 2.5 times a distancefrom the center of the transfer device to an edge if the transferdevice, more preferably less than 1.5 times the distance center to edgeof the transfer device, and most preferably less 1 times the distancecenter to edge of the transfer device. The transfer device may have anarbitrary shape, in particular a non-circular shapes are possible. Atsmall distances an aperture of the illumination source may be small andthe baseline may be small. At large distances an aperture of theillumination source may be large and the baseline may be small. This iscontrarily as in triangulation methods, wherein at large distances alarge baseline is necessary. Further, triangulation based systems have aminimum detection range significantly greater than zero, for examplesuch as 20 cm from the detector system, due to necessary spatial extendof the baseline. Such a large baseline may result in that theilluminated light scattered from the object may not reach the lightsensitive area of the optical sensor behind the transfer device. Inaddition, in triangulation based systems, using a small baseline wouldreduce the minimum detection range, however, at the same time wouldreduce a maximum detection range. Further, triangulation based systemsrequire a plurality of light sensitive areas and sensor signals, forexample sensor signals of at least one detector row. According to theinvention, determination of the longitudinal coordinate z is possiblewith a reduced number of sensor signals, in particular with less than20, preferably less than 10 and more preferably less than 5 sensorsignals. The illumination source and the angle dependent optical elementmay be arranged in the direction of propagation of the light beamtraveling from the object to the detector behind the transfer device,which will be described in detail below. The distance perpendicular tothe optical axis of the detector between the illumination source and theoptical sensors may be less than the radius of the transfer device.

The illumination source and the optical sensors and/or the illuminationsource and the angle dependent optical element and/or the opticalsensors may be arranged with a relative spatial offset from the opticalaxis of the detector. Such an arrangement may allow enhancing thetendency of the quotient, and thus, accuracy of the distancemeasurement. In particular, with increasing spatial offset a slope in aQ vs distance diagram increases and thus allows distinguishing similardistances more accurately. For example, one of the illumination sourceand the optical sensors may be arranged on the optical axis and theother one may be arranged spaced apart from the optical axis. Forexample, both of illumination source and the optical sensors may bearranged spaced apart from the optical axis by at least one differentdistance, in particular perpendicular to the optical axis. For example,the at least two fibers of a multifurcated optical fiber may be arrangedat different distances from the optical axis. The angle dependentoptical element is adapted to mimic a larger distance compared to thereal distance perpendicular to an optical axis between the illuminationsource and the optical sensors without moving the illumination sourceand/or optical sensors.

By way of example, the transfer device can have one or more lenses, inparticular one or more refractive lenses, and/or one or more convexmirrors. In this example, the focal length may be defined as a distancefrom the center of the thin refractive lens to the principal focalpoints of the thin lens. For a converging thin refractive lens, such asa convex or biconvex thin lens, the focal length may be considered asbeing positive and may provide the distance at which a beam ofcollimated light impinging the thin lens as the transfer device may befocused into a single spot. Additionally, the transfer device cancomprise at least one wavelength-selective element, for example at leastone optical filter. Additionally, the transfer device can be designed toimpress a predefined beam profile on the electromagnetic radiation, forexample, at the location of the sensor region and in particular thesensor area. The abovementioned optional embodiments of the transferdevice can, in principle, be realized individually or in any desiredcombination.

Alternatively to the linear arrangement of the two optical sensors, theoptical sensors may be arranged in different beam paths of the detector.The angle dependent optical element may be adapted to generate the firstlight beam and the second light beam. The first light beam and thesecond light beam may be generated with different degree oftransmission. The first optical sensor may be configured to generate thefirst sensor signal in response to the illumination of the firstlight-sensitive area by the first light beam generated by the angledependent optical element. The second optical sensor may be configuredto generate the second sensor signal in response to the illumination ofthe second light-sensitive area by the second light beam generated bythe angle dependent optical element. For example, as outlined above, theangle dependent optical element may comprise at least one multifurcatedoptical fiber which may be arranged such that the incident light beammay impinge at the first angle of incidence into the first fiber and atthe second angle of incidence, different from the first angle, into thesecond fiber, such that the degree of transmission is different for thefirst light beam, in this case a first transmission light beam, and thesecond light beam, in this case a second transmission light beam. One ofthe first and second optical sensors may be arranged at the exit end ofthe first fiber and the other optical sensor may be arranged at the exitend of the second fiber.

At least one sensor element may have a matrix of optical sensors,wherein the optical sensors each having a light-sensitive area, whereineach optical sensor may be configured to generate at least one sensorsignal in response to an illumination of the light-sensitive area by thelight beam generated by the angle dependent optical element.

For example, the detector may comprise two sensor elements, inparticular at least one first sensor element and at least one secondsensor element, arranged in different beam paths of the detector. Theangle dependent optical element may be adapted to generate the firstlight beam and the second light beam. The first light beam and thesecond light beam may be generated with different degree oftransmission. The first sensor element may be configured to generate thefirst sensor signal in response to the illumination by the first lightbeam generated by the angle dependent optical element. The second sensorelement may be configured to generate the second sensor signal inresponse to an illumination by the second light beam generated by theangle dependent optical element. For example, as outlined above, theangle dependent optical element may comprise at least one mulitfurcatedoptical fiber arranged such that the incident light beam may impinge atthe first angle of incidence into the first fiber and at the secondangle of incidence, different from the first angle, into the secondfiber, such that the degree of transmission is different for the firsttransmission light beam and the second transmission light beam. One ofthe first and second sensors elements may be arranged at the exit end ofthe first fiber and the other sensor element may be arranged at the exitend of the second fiber.

The detector may comprise at least two optical sensors, each opticalsensor having a light-sensitive area, wherein each light-sensitive areahas a geometrical center, wherein the geometrical centers of the opticalsensors are spaced apart from an optical axis of the detector bydifferent spatial offsets, wherein each optical sensor is configured togenerate a sensor signal in response to an illumination of itsrespective light-sensitive area by the light beam generated by the angledependent optical element.

The evaluation device may be configured for determining at least onelongitudinal coordinate z of the object by combining the at least twosensor signals. In this further embodiment the optical sensors may bearranged such that the light-sensitive areas of the optical sensorsdiffer in their spatial offset and/or their surface areas

The detector may have a single beam path along which a light beam maytravel from the object to the optical sensors, or may have a pluralityof beam paths. For example, in case the angle dependent optical elementcomprises at least one multifurcated optical fiber, each of the fibersof the multifurcated optical fiber may constitute an independent beampath. As an example, a single beam path may be given or the beam pathmay be split into two or more partial beam paths. In the latter case,each partial beam path may have its own optical axis, and the conditionnoted above generally may refer to each beam path independently. Theoptical sensors may be located in one and the same beam path or partialbeam path. Alternatively, however, the optical sensors may also belocated in different partial beam paths. In case the optical sensors aredistributed over different partial beam paths, the above-mentionedcondition may be described such that at least one first optical sensoris located in at least one first partial beam path, being offset fromthe optical axis of the first partial beam path by a first spatialoffset, and at least one second optical sensor is located in at leastone second partial beam path, being offset from the optical axis of thesecond partial beam path by at least one second spatial offset, whereinthe first spatial offset and the second spatial offset are different.

As outlined above, each light-sensitive area has a geometrical center.Each geometrical center of each light-sensitive area may be spaced apartfrom the optical axis of the detector, such as the optical axis of thebeam path or the respective beam path in which the respective opticalsensor is located.

As outlined above, the optical sensors specifically may be located inone and the same plane, which, preferably, is a plane perpendicular tothe optical axis. Other configurations, however, are possible. Thus, twoor more of the optical sensors may also be spaced apart in a directionparallel to the optical axis.

For example, the optical sensors may be partial diodes of a segmenteddiode, with a center of the segmented diode being off-centered from theoptical axis of the detector. As an example, bi-cell diodes or quadrantdiodes are widely commercially available at low cost, and drivingschemes for these bi-cell diodes or quadrant diodes are generally known.As an example, the bi-cell diodes may each form independent diodeshaving the full functionality of a diode. As an example, each of thebi-cell diodes may have a square or rectangular shape, and the twodiodes may be placed in one plane such that the two partial diodes, intotal, form a 1×2 or 2×1 matrix having a rectangular shape. In thepresent invention, however, a new scheme for evaluating the sensorsignals of the bi-cell diodes and quadrant diode is proposed, as will beoutlined in further detail below. Generally, however, the opticalsensors specifically may be partial diodes of a quadrant diode, with acenter of the quadrant diode being off-centered from the optical axis ofthe detector. As an example, the four partial diodes may each formindependent diodes having the full functionality of a diode. As anexample, the four partial diodes may each have a square or rectangularshape, and the four partial diodes may be placed in one plane such thatthe four partial diodes, in total, form a 2×2 matrix having arectangular or square shape. In a further example, the four partialdiodes, in total, may form a 2×2 matrix having a circular or ellipticalshape. The partial diodes, as an example, may be adjacent, with aminimum separation from one another.

In case a quadrant diode is used, having a 2×2 matrix of partial diodes,the center of the quadrant diode specifically may be off-centered oroffset from the optical axis. Thus, as an example, the center of thequadrant diodes, which may be an intersection of the geometrical centersof the optical sensors of the quadrant diode, may be off-centered fromthe optical axis by at least 0.2 mm, more preferably by at least 0.5 mm,more preferably by at least 1.0 mm or even 2.0 mm. Similarly, when usingother types of optical sensors setups having a plurality of opticalsensors, an overall center of the optical sensors may be offset from theoptical axis by the same distance.

In a further aspect of the present invention, a detector system fordetermining a position of at least one object is disclosed. The detectorsystem comprises at least one detector according to the presentinvention, such as according to one or more of the embodiments disclosedabove or according to one or more of the embodiments disclosed infurther detail below. The detector system further comprises at least onebeacon device adapted to direct at least one light beam towards thedetector, wherein the beacon device is at least one of attachable to theobject, holdable by the object and integratable into the object. Furtherdetails regarding the beacon device will be given below, includingpotential embodiments thereof. Thus, the at least one beacon device maybe or may comprise at least one active beacon device, comprising one ormore illumination sources such as one or more light sources like lasers,LEDs, light bulbs or the like. As an example, the light emitted by theillumination source may have a wavelength of 300-500 nm. Alternatively,as outlined above, the infrared spectral range may be used, such as inthe range of 780 nm to 3.0 μm. Specifically, the near infrared regionwhere silicon photodiodes are applicable specifically in the range of700 nm to 1000 nm may be used. The light emitted by the one or morebeacon devices may be non-modulated or may be modulated, as outlinedabove, in order to distinguish two or more light beams. Additionally oralternatively, the at least one beacon device may be adapted to reflectone or more light beams towards the detector, such as by comprising oneor more reflective elements. Further, the at least one beacon device maybe or may comprise one or more scattering elements adapted forscattering a light beam. Therein, elastic or inelastic scattering may beused. In case the at least one beacon device is adapted to reflectand/or scatter a primary light beam towards the detector, the beacondevice may be adapted to leave the spectral properties of the light beamunaffected or, alternatively, may be adapted to change the spectralproperties of the light beam, such as by modifying a wavelength of thelight beam.

In a further aspect of the present invention, a human-machine interfacefor exchanging at least one item of information between a user and amachine is disclosed. The human-machine interface comprises at least onedetector system according to the embodiments disclosed above and/oraccording to one or more of the embodiments disclosed in further detailbelow. Therein, the at least one beacon device is adapted to be at leastone of directly or indirectly attached to the user or held by the user.The human-machine interface is designed to determine at least oneposition of the user by means of the detector system, wherein thehuman-machine interface is designed to assign to the position at leastone item of information.

In a further aspect of the present invention, an entertainment devicefor carrying out at least one entertainment function is disclosed. Theentertainment device comprises at least one human-machine interfaceaccording to the embodiment disclosed above and/or according to one ormore of the embodiments disclosed in further detail below. Theentertainment device is configured to enable at least one item ofinformation to be input by a player by means of the human-machineinterface. The entertainment device is further configured to vary theentertainment function in accordance with the information.

In a further aspect of the present invention, a tracking system fortracking a position of at least one movable object is disclosed. Thetracking system comprises at least one detector system according to oneor more of the embodiments referring to a detector system as disclosedabove and/or as disclosed in further detail below. The tracking systemfurther comprises at least one track controller. The track controller isadapted to track a series of positions of the object at specific pointsin time.

In a further aspect of the present invention, a camera for imaging atleast one object is disclosed. The camera comprises at least onedetector according to any one of the embodiments referring to a detectoras disclosed above or as disclosed in further detail below.

In a further aspect of the present invention, a readout device foroptical storage media is proposed. The readout device comprises at leastone detector according to any one of the preceding embodiments referringto a detector. As used therein, a readout device for optical storagemedia generally refers to a device which is capable of opticallyretrieving information stored in optical storage media such as opticalstorage discs, e.g. CCD, DVD or Blu-ray discs. Thus, the above-describedmeasurement principle of the detector according to the present inventionmay be used for detecting data modules within an optical storage mediumsuch as in optical storage discs. As an example, in case a reflectivedata module is present and reflects the illuminating light beam, thedetector will not only detect the reflected light beam according to theabove-mentioned measurement principle but will also detect a distancebetween the detector and the reflective data module, i.e. a depth of thereflective data module within the optical storage medium. Thus, as anexample, the detector may be used for detecting different layers ofinformation modules or data modules within the optical storage medium.Thereby, as an example, two layer discs or three layer discs or evendiscs having more than three layers may be generated and read out.

In a further aspect of the present invention, a scanning system fordetermining a depth profile of a scenery, which may also implydetermining at least one position of at least one object, is provided.The scanning system comprises at least one detector according to thepresent invention, such as at least one detector as disclosed in one ormore of the embodiments listed above and/or as disclosed in one or moreof the embodiments below. The scanning system further comprises at leastone illumination source adapted to scan the scenery with at least onelight beam, which may also be referred to as an illumination light beamor scanning light beam. As used herein, the term “scenery” generallyrefers to a two-dimensional or three-dimensional range which is visibleby the detector, such that at least one geometric or spatial property ofthe two-dimensional or three-dimensional range may be evaluated with thedetector. As further used herein, the term “scan” generally refers to aconsecutive measurement in different regions. Thus, the scanningspecifically may imply at least one first measurement with theillumination light beam being oriented or directed in a first fashion,and at least one second measurement with the illumination light beambeing oriented or directed in a second fashion which is different fromthe first fashion. The scanning may be a continuous scanning or astepwise scanning. Thus, in a continuous or stepwise fashion, theillumination light beam may be directed into different regions of thescenery, and the detector may be detected to generate at least one itemof information, such as at least one longitudinal coordinate, for eachregion. As an example, for scanning an object, one or more illuminationlight beams may, continuously or in a stepwise fashion, create lightspots on the surface of the object, wherein longitudinal coordinates aregenerated for the light spots. Alternatively, however, a light patternmay be used for scanning. The scanning may be a point scanning or a linescanning or even a scanning with more complex light patterns. Theillumination source of the scanning system may be distinct from theoptional illumination source of the detector. Alternatively, however,the illumination source of the scanning system may also be fully orpartially identical with or integrated into the at least one optionalillumination source of the detector.

Thus, the scanning system may comprise at least one illumination sourcewhich is adapted to emit the at least one light beam being configuredfor the illumination of the at least one dot located at the at least onesurface of the at least one object. As used herein, the term “dot”refers to an area, specifically a small area, on a part of the surfaceof the object which may be selected, for example by a user of thescanning system, to be illuminated by the illumination source.Preferably, the dot may exhibit a size which may, on one hand, be assmall as possible in order to allow the scanning system to determine avalue for the distance between the illumination source comprised by thescanning system and the part of the surface of the object on which thedot may be located as exactly as possible and which, on the other hand,may be as large as possible in order to allow the user of the scanningsystem or the scanning system itself, in particular by an automaticprocedure, to detect a presence of the dot on the related part of thesurface of the object.

For this purpose, the illumination source may comprise an artificialillumination source, in particular at least one laser source and/or atleast one incandescent lamp and/or at least one semiconductor lightsource, for example, at least one light-emitting diode, in particular anorganic and/or inorganic light-emitting diode. As an example, the lightemitted by the illumination source may have a wavelength of 300-500 nm.Additionally or alternatively, light in the infrared spectral range maybe used, such as in the range of 780 nm to 3.0 μm. Specifically, thelight in the part of the near infrared region where silicon photodiodesare applicable specifically in the range of 700 nm to 1000 nm may beused. On account of their generally defined beam profiles and otherproperties of handleability, the use of at least one laser source as theillumination source is particularly preferred. Herein, the use of asingle laser source may be preferred, in particular in a case in whichit may be important to provide a compact scanning system that might beeasily storable and transportable by the user. The illumination sourcemay thus, preferably be a constituent part of the detector and may,therefore, in particular be integrated into the detector, such as intothe housing of the detector. In a preferred embodiment, particularly thehousing of the scanning system may comprise at least one displayconfigured for providing distance-related information to the user, suchas in an easy-to-read manner. In a further preferred embodiment,particularly the housing of the scanning system may, in addition,comprise at least one button which may be configured for operating atleast one function related to the scanning system, such as for settingone or more operation modes. In a further preferred embodiment,particularly the housing of the scanning system may, in addition,comprise at least one fastening unit which may be configured forfastening the scanning system to a further surface, such as a rubberfoot, a base plate or a wall holder, such as a base plate or holdercomprising a magnetic material, in particular for increasing theaccuracy of the distance measurement and/or the handleability of thescanning system by the user.

Particularly, the illumination source of the scanning system may, thus,emit a single laser beam which may be configured for the illumination ofa single dot located at the surface of the object. By using at least oneof the detectors according to the present invention at least one item ofinformation about the distance between the at least one dot and thescanning system may, thus, be generated. Hereby, preferably, thedistance between the illumination system as comprised by the scanningsystem and the single dot as generated by the illumination source may bedetermined, such as by employing the evaluation device as comprised bythe at least one detector. However, the scanning system may, further,comprise an additional evaluation system which may, particularly, beadapted for this purpose. Alternatively or in addition, a size of thescanning system, in particular of the housing of the scanning system,may be taken into account and, thus, the distance between a specificpoint on the housing of the scanning system, such as a front edge or aback edge of the housing, and the single dot may, alternatively, bedetermined. The illumination source may be adapted to generate and/or toproject a cloud of points, for example the illumination source maycomprise one or more of at least one digital light processing (DLP)projector, at least one LCoS projector, at least one spatial lightmodulator; at least one diffractive optical element; at least one arrayof light emitting diodes; at least one array of laser light sources.

Alternatively, the illumination source of the scanning system may emittwo individual laser beams which may be configured for providing arespective angle, such as a right angle, between the directions of anemission of the beams, whereby two respective dots located at thesurface of the same object or at two different surfaces at two separateobjects may be illuminated. However, other values for the respectiveangle between the two individual laser beams may also be feasible. Thisfeature may, in particular, be employed for indirect measuringfunctions, such as for deriving an indirect distance which may not bedirectly accessible, such as due to a presence of one or more obstaclesbetween the scanning system and the dot or which may otherwise be hardto reach. By way of example, it may, thus, be feasible to determine avalue for a height of an object by measuring two individual distancesand deriving the height by using the Pythagoras formula. In particularfor being able to keep a predefined level with respect to the object,the scanning system may, further, comprise at least one leveling unit,in particular an integrated bubble vial, which may be used for keepingthe predefined level by the user.

As a further alternative, the illumination source of the scanning systemmay emit a plurality of individual laser beams, such as an array oflaser beams which may exhibit a respective pitch, in particular aregular pitch, with respect to each other and which may be arranged in amanner in order to generate an array of dots located on the at least onesurface of the at least one object. For this purpose, specially adaptedoptical elements, such as beam-splitting devices and mirrors, may beprovided which may allow a generation of the described array of thelaser beams. In particular, the illumination source may be directed toscan an area or a volume by using one or more movable mirrors toredirect the light beam in a periodic or non-periodic fashion.

Thus, the scanning system may provide a static arrangement of the one ormore dots placed on the one or more surfaces of the one or more objects.Alternatively, the illumination source of the scanning system, inparticular the one or more laser beams, such as the above describedarray of the laser beams, may be configured for providing one or morelight beams which may exhibit a varying intensity over time and/or whichmay be subject to an alternating direction of emission in a passage oftime, in particular by moving one or more mirrors, such as themicro-mirrors comprised within the mentioned array of micro-mirrors. Asa result, the illumination source may be configured for scanning a partof the at least one surface of the at least one object as an image byusing one or more light beams with alternating features as generated bythe at least one illumination source of the scanning device. Inparticular, the scanning system may, thus, use at least one row scanand/or line scan, such as to scan the one or more surfaces of the one ormore objects sequentially or simultaneously. Thus, the scanning systemmay be adapted to measure angles by measuring three or more dots, or thescanning system may be adapted to measure corners or narrow regions suchas a gable of a roof, which may be hardly accessible using aconventional measuring stick. As non-limiting examples, the scanningsystem may be used in safety laser scanners, e.g. in productionenvironments, and/or in 3D-scanning devices as used for determining theshape of an object, such as in connection to 3D-printing, body scanning,quality control, in construction applications, e.g. as range meters, inlogistics applications, e.g. for determining the size or volume of aparcel, in household applications, e.g. in robotic vacuum cleaners orlawn mowers, or in other kinds of applications which may include ascanning step. As non-limiting examples, the scanning system may be usedin industrial safety curtain applications. As non-limiting examples, thescanning system may be used to perform sweeping, vacuuming, mopping, orwaxing functions, or yard or garden care functions such as mowing orraking. As non-limiting examples, the scanning system may employ an LEDillumination source with collimated optics and may be adapted to shiftthe frequency of the illumination source to a different frequency toobtain more accurate results and/or employ a filter to attenuate certainfrequencies while transmitting others. As non-limiting examples, thescanning system and/or the illumination source may be rotated as a wholeor rotating only a particular optics package such as a mirror, beamsplitter or the like, using a dedicated motor as such that in operation,the scanning system may have a full 360 degree view or even be moved andor rotated out of plane to further increase the scanned area. Further,the illumination source may be actively aimed in a predetermineddirection. Further, to allow the rotation of wired electrical systems,slip rings, optical data transmission, or inductive couplings may beemployed.

As a non-limiting example, the scanning system may be attached to atripod and point towards an object or region with a several corners andsurfaces. One or more flexibly movable laser sources are attached to thescanning system. The one or more laser sources are moved as such thatthey illuminate points of interest. The position of the illuminatedpoints with respect to the scanning system is measured when pressing adesignated button on the scanning system and the position information istransmitted via a wireless interface to a mobile phone. The positioninformation is stored in a mobile phone application. The laser sourcesare moved to illuminate further points of interest the position of whichare measured and transmitted to the mobile phone application. The mobilephone application may transform the set of points into a 3d model byconnecting adjacent points with planar surfaces. The 3d model may bestored and processed further. The distances and or angles between themeasured points or surfaces may be displayed directly on a displayattached to a scanning system or on the mobile phone to which theposition information is transmitted.

As a non-limiting example, a scanning system may comprise two or moreflexible movable laser sources to project points and further one movablelaser source projecting a line. The line may be used to arrange the twoor more laser spots along a line and the display of the scanning devicemay display the distance between the two or more laser spots that may bearranged along the line, such as at equal distance. In the case of twolaser spots, a single laser source may be used whereas the distance ofthe projected points is modified using one or more beam-splitters orprisms, where a beam-splitter or prism can be moved as such that theprojected laser spots move apart or closer together. Further, thescanning system may be adapted to project further patterns such as aright angle, a circle, a square, a triangle, or the like, along which ameasurement can be done by projecting laser spots and measuring theirposition.

As a non-limiting example, the scanning system may be adapted as a linescanning device. In particular, the scanning device may comprise atleast one sensor line or row. Triangulation systems require a sufficientbaseline such that in the near filed no detection may be possible. Nearfield detection may be possible if the laser spot is tilted in directionof the transfer device. However, the tilting leads to that the lightspot will move out of the field of view which limits detection in farfield regions. These near field and far field problems can be overcomeby using the detector according to the present invention. In particular,the detector may comprise a CMOS line of optical sensors. The scanningsystem may be adapted to detect a plurality of light beams propagatingfrom the object to the detector on the CMOS line. The light beams may begenerated at different positions on the object or by movement of theillumination source. The scanning system may be adapted to determine atleast one longitudinal coordinate for each of the light points bydetermining the quotient signal Q as described above and in more detailbelow.

As a non-limiting example, the scanning system may be adapted to supportthe work with tools, such as wood or metal processing tools, such as asaw, a driller, or the like. Thus, the scanning system may be adapted tomeasure the distance in two opposite directions and display the twomeasured distances or the sum of the distances in a display. Further,the scanning system may be adapted to measure the distance to the edgeof a surface as such that when the scanning system is placed on thesurface, a laser point is moved automatically away from the scanningsystem along the surface, until the distance measurement shows a suddenchange due to a corner or the edge of a surface. This makes it possibleto measure the distance of the end of a wood plank while the scanningdevice is placed on the plank but remote from its end. Further, thescanning system may measure the distance of the end of a plank in onedirection and project a line or circle or point in a designated distancein the opposite direction. The scanning system may be adapted to projectthe line or circle or point in a distance depending on the distancemeasured in the opposite direction such as depending on a predeterminedsum distance. This allows working with a tool such as a saw or drillerat the projected position while placing the scanning system in a safedistance from the tool and simultaneously perform a process using thetool in a predetermined distance to the edge of the plank. Further, thescanning system may be adapted to project points or lines or the like intwo opposite directions in a predetermined distance. When the sum of thedistances is changed, only one of the projected distances changes.

As a non-limiting example, the scanning system may be adapted to beplaced onto a surface, such as a surface on which a task is performed,such as cutting, sawing, drilling, or the like, and to project a lineonto the surface in a predetermined distance that can be adjusted suchas with buttons on the scanning device.

As non-limiting examples, the scanning system may be used in safetylaser scanners, e.g. in production environments, and/or in 3D-scanningdevices as used for determining the shape of an object, such as inconnection to 3D-printing, body scanning, quality control, inconstruction applications, e.g. as range meters, in logisticsapplications, e.g. for determining the size or volume of a parcel, inhousehold applications, e.g. in robotic vacuum cleaners or lawn mowers,or in other kinds of applications which may include a scanning step.

The transfer device can, as explained above, be designed to feed lightpropagating from the object to the detector to the optical sensor,preferably successively. As explained above, this feeding can optionallybe effected by means of imaging or else by means of non-imagingproperties of the transfer device. In particular the transfer device canalso be designed to collect the electromagnetic radiation before thelatter is fed to the optical sensor. The transfer device can also bewholly or partly a constituent part of at least one optionalillumination source, for example by the illumination source beingdesigned to provide a light beam having defined optical properties, forexample having a defined or precisely known beam profile, for example atleast one linear combination of Gaussian beams, in particular at leastone laser beam having a known beam profile.

The beacon devices and/or the at least one optional illumination sourcegenerally may emit light in at least one of: the ultraviolet spectralrange, preferably in the range of 200 nm to 380 nm; the visible spectralrange (380 nm to 780 nm); the infrared spectral range, preferably in therange of 780 nm to 3.0 micrometers, more preferably in the part of thenear infrared region where silicon photodiodes are applicablespecifically in the range of 700 nm to 1000 nm. For thermal imagingapplications the target may emit light in the far infrared spectralrange, preferably in the range of 3.0 micrometers to 20 micrometers. Forexample, the at least one illumination source is adapted to emit lightin the visible spectral range, preferably in the range of 500 nm to 780nm, most preferably at 650 nm to 750 nm or at 690 nm to 700 nm. Forexample, the at least one illumination source is adapted to emit lightin the infrared spectral range. Other options, however, are feasible.

The feeding of the light beam to the optical sensor can be effected inparticular in such a way that a light spot, for example having a round,oval or differently configured cross section, is produced on theoptional sensor area of the optical sensor. By way of example, thedetector can have a visual range, in particular a solid angle rangeand/or spatial range, within which objects can be detected. Preferably,the transfer device may be designed in such a way that the light spot,for example in the case of an object arranged within a visual range ofthe detector, is arranged completely on a sensor region and/or on asensor area of the optical sensor. By way of example, a sensor area canbe chosen to have a corresponding size in order to ensure thiscondition.

In a further aspect, the present invention discloses an inertialmeasurement unit for use in an electronic device. The electronic devicemay be a mobile electronic device. The electronic device may be acamera. The electronic device may be a mobile phone. The inertialmeasurement unit is adapted to receive data determined by at least oneinertial measurement unit comprising at least one detector according tothe present invention, such as according to one or more of theembodiments referring to a detector as disclosed above or as disclosedin further detail below. As used herein, the term “data determined bythe at least one detector” refers to at least one information on the atleast one longitudinal coordinate z. The inertial measurement unitfurther is adapted to receive data determined by at least one furthersensor selected from the group consisting of: a wheel speed sensor, aturn rate sensor, an inclination sensor, an orientation sensor, a motionsensor, a magneto hydro dynamic sensor, a force sensor, an angularsensor, an angular rate sensor, a magnetic field sensor, a magnetometer,an accelerometer; a gyroscope. As used herein, the term “data determinedby the at least one further sensor” refers to at least one informationselected from the group consisting of: angle information; speedinformation; information on turn rate; information on inclination. Theinertial measurement unit is adapted to determine by evaluating the datafrom the detector and the at least one further sensor at least oneproperty of the electronic device selected from the group consisting of:position in space, relative or absolute motion in space, rotation,acceleration, orientation, angle position, inclination, turn rate,speed. The inertial measurement unit may comprise at least oneprocessor. The processor may be adapted to evaluate data recorded by thefurther sensor. In particular, the processor may be adapted to determineand/or calculate one or more of spatial position, spatial orientation,movement and velocity. The inertial measurement unit may comprise aplurality of further sensors. The inertial measurement unit may beadapted to fuse information determined from at least two of the furthersensors. The inertial measurement unit may be adapted to fuseinformation of at least two further sensors by using at least one Kalmanfilter. As outlined above, the detector may be adapted to provide anabsolute measurement of the longitudinal coordinate z. The processor,e.g. the evaluation device as described above, may be adapted to fusethe information of the at least two further sensors considering thelongitudinal coordinate z. The various sensor signals may be used withina Kalman filter or a linear quadratic estimated to take into accountthat each sensor signal is subject to measurement errors andinaccuracies. Fusion of these sensor signals within a Kalman filter mayyield an improved estimate such as for the measurement of thelongitudinal coordinate.

In a further aspect, the present invention discloses a method fordetermining a position of at least one object by using a detector, suchas a detector according to the present invention, such as according toone or more of the embodiments referring to a detector as disclosedabove or as disclosed in further detail below. Still, other types ofdetectors may be used. The method comprises the following method steps,wherein the method steps may be performed in the given order or may beperformed in a different order. Further, one or more additional methodsteps may be present which are not listed. Further, one, more than oneor even all of the method steps may be performed repeatedly.

The method comprises the following method steps:

-   -   providing at least two optical sensors, each optical sensor        having a light-sensitive area, wherein each optical sensor is        configured to generate a sensor signal in response to an        illumination of its respective light-sensitive area by the light        beam, wherein the detector has at least one transfer device,        wherein the transfer device has at least one focal length in        response to the light beam propagating from the object to the        detector;    -   illuminating each of light-sensitive areas of at least two        optical sensors of the detector with a light beam propagating        from the object to the detector, wherein, thereby, each of the        light-sensitive areas generates at least one sensor signal; and    -   evaluating the sensor signals, thereby, determining at least one        longitudinal coordinate z of the object, wherein the evaluating        comprises deriving a quotient signal Q of the sensor signals.

The longitudinal coordinate z of the object may be determined in atleast one measurement range independent from the object size in anobject plane.

The deriving of the quotient signal Q may comprise one or more ofdividing the sensor signals, dividing multiples of the sensor signals,dividing linear combinations of the sensor signals.

The method may comprise adjusting the measurement range by adjusting onone or more parameters selected from the group consisting of: alongitudinal distance from the object to the transfer device z₀; thefocal length of the transfer device f; a diameter of an exit pupil ofthe transfer device E_(x); a longitudinal distance from the transferdevice to the light sensitive area z_(s), a distance from the transferdevice to an image of the object z_(i); an object size O_(size) of theobject in the object plane.

The transfer device may have an optical axis. With respect toembodiments of the transfer device reference is made to the embodimentsof the transfer device described with respect to a first aspect above.

For details, options and definitions, reference may be made to thedetector as discussed above. Thus, specifically, as outlined above, themethod may comprise using the detector according to the presentinvention, such as according to one or more of the embodiments givenabove or given in further detail below.

In a first preferred embodiment the method may comprise the followingmethod steps, wherein the method steps may be performed in the givenorder or may be performed in a different order. Further, one or moreadditional method steps may be present which are not listed. Further,one, more than one or even all of the method steps may be performedrepeatedly.

The method steps may be as follows:

-   -   illuminating at least one first light-sensitive area of at least        one first optical sensor of the detector with a light beam        propagating from the object to the detector and, thereby,        generating at least one first sensor signal;    -   illuminating at least one second light-sensitive area of at        least one second optical sensor of the detector with the light        beam and, thereby, generating at least one second sensor signal,        wherein the first light-sensitive area is smaller than the        second light-sensitive area; and    -   evaluating the first and second sensor signals, thereby        determining at least one longitudinal coordinate z of the        object.

Specifically, evaluating the first and second sensor signal may comprisederiving the quotient signal Q by dividing the first and second sensorsignals, by dividing multiples of the first and second sensor signals orby dividing linear combinations of the first and second sensor signals.Further, the determining the longitudinal coordinate may compriseevaluating the quotient signal Q.

In a second preferred embodiment the method may comprise the followingmethod steps, wherein the method steps may be performed in the givenorder or may be performed in a different order. Further, one or moreadditional method steps may be present which are not listed. Further,one, more than one or even all of the method steps may be performedrepeatedly.

The method steps may be as follows:

-   -   illuminating at least one sensor element of the detector with at        least one light beam propagating from the object to the        detector, the detector having a matrix of optical sensors, the        optical sensors each having a light-sensitive area, wherein each        optical sensor generates at least one sensor signal in response        to the illumination;    -   evaluating the sensor signals, by    -   determining at least one optical sensor having the highest        sensor signal and forming at least one center signal;        -   a) evaluating the sensor signals of the optical sensors of            the matrix and forming at least one sum signal;        -   b) determining at least one combined signal by combining the            center signal and the sum signal; and        -   c) determining at least one longitudinal coordinate z of the            object by evaluating the combined signal.

Specifically, the evaluation of the first and second sensor signal maycomprise deriving the quotient signal Q by one or more of: forming aquotient of the center signal and the sum signal or vice versa; forminga quotient of a multiple of the center signal and a multiple of the sumsignal or vice versa; forming a quotient of a linear combination of thecenter signal and a linear combination of the sum signal or vice versa;forming a quotient of a first linear combination of the center signaland the sum signal and a second linear combination of the center signaland the sum signal. Further, the determination of the longitudinalcoordinate may comprise evaluating the quotient signal Q. The evaluationof the quotient signal specifically may comprise using at least onepredetermined relationship between the quotient signal Q and thelongitudinal coordinate, in order to determine the longitudinalcoordinate.

In a third preferred embodiment the method may comprise the followingmethod steps, wherein the method steps may be performed in the givenorder or may be performed in a different order. Further, one or moreadditional method steps may be present which are not listed. Further,one, more than one or even all of the method steps may be performedrepeatedly.

The method steps may be as follows:

-   -   providing at least two optical sensors, each optical sensor        having a light-sensitive area, wherein each light-sensitive area        has a geometrical center, wherein the geometrical centers of the        optical sensors are spaced apart from an optical axis of the        detector by different separations, wherein each optical sensor        is configured to generate a sensor signal in response to an        illumination of its respective light-sensitive area by a light;    -   illuminating the at least two light-sensitive areas of the at        least two optical sensors of the detector with a light beam        propagating from the object to the detector and, thereby,        generating at least two sensor signals; and    -   evaluating the sensor signals by combining the at least two        sensor signals, thereby determining at least one longitudinal        coordinate z of the object.

Specifically, evaluating the first and second sensor signal may comprisederiving the quotient signal Q by one or more of dividing the sensorsignals, dividing multiples of the sensor signals or dividing linearcombinations of the sensor signals, and wherein the determining of thelongitudinal coordinate comprises evaluating the quotient signal Q.Further, the determining of the longitudinal coordinate may compriseevaluating the quotient signal Q.

In a further preferred embodiment the method may comprise the followingmethod steps, wherein the method steps may be performed in the givenorder or may be performed in a different order. Further, one or moreadditional method steps may be present which are not listed. Further,one, more than one or even all of the method steps may be performedrepeatedly.

The method steps may be as follows:

-   -   illuminating at least one first light-sensitive area of at least        one first optical sensor with a light beam propagating from the        object to the detector and generating at least one first sensor        signal by the first optical sensor, in response to the        illumination of the first light-sensitive area;    -   illuminating at least one second light-sensitive area of at        least one second optical sensor with the light beam and        generating at least one second sensor signal by the second        optical sensor, in response to the illumination of the second        light-sensitive area, the second optical sensor having    -   at least one fluorescent waveguiding sheet forming a second        light-sensitive area, wherein the fluorescent waveguiding sheet        is oriented towards the object such that at least one light beam        propagating from the object towards the detector generates at        least one light spot in the second light-sensitive area, wherein        the fluorescent waveguiding sheet contains at least one        fluorescent material, wherein the fluorescent material is        adapted to generate fluorescence light in response to the        illumination by the light beam; and    -   at least one photosensitive element located at at least one edge        of the fluorescent waveguiding sheet, capable of detecting        fluorescence light guided from the light spot towards the        photosensitive element by the fluorescent waveguiding sheet and        capable of generating the at least one second sensor signal in        response to the illumination of the second light-sensitive area        by the light beam, wherein the first light-sensitive area is        smaller than the second light-sensitive area; and    -   determining at least one longitudinal coordinate z of the object        by evaluating the first and second sensor signals.

Specifically, as discussed above, the evaluating the first and secondsensor signals may comprise deriving a quotient signal Q by dividing thefirst and second sensor signals, by dividing multiples of the first andsecond sensor signals or by dividing linear combinations of the firstand second sensor signals. The determining the at least one longitudinalcoordinate of the object may comprise evaluating the quotient signal Q.as discussed above, at least one predetermined relationship between thequotient signal and the longitudinal coordinate may be used fordetermining the longitudinal coordinate.

As also discussed above, the second optical sensor specifically maycomprise at least two photosensitive elements. The method may furthercomprise determining at least one transversal coordinate x, y of theobject by evaluating the sensor signals of the photosensitive elements.

For details, options and definitions, reference may be made to thedetector as discussed above. Thus, specifically, as outlined above, themethod may comprise using the detector according to the presentinvention, such as according to one or more of the embodiments givenabove or given in further detail below.

In a further preferred embodiment, the method comprises the followingsteps:

-   -   providing at least one angle dependent optical element and        generating at least one light beam having at least one beam        profile depending on an angle of incidence;    -   providing at least two optical sensors, wherein each optical        sensor has at least one light sensitive area, wherein each        optical sensor is designed to generate at least one sensor        signal in response to an illumination of its respective        light-sensitive area by the light beam generated by the angle        dependent optical element;    -   illuminating each of the light-sensitive areas of the at least        two optical sensors of the detector with the light beam        generated by the angle dependent optical element, wherein,        thereby, each of the light-sensitive areas generates at least        one sensor signal; and evaluating the sensor signals, thereby,        determining at least one longitudinal coordinate z of the        object, wherein the evaluating comprises deriving the quotient        signal Q of the sensor signals.

Specifically, evaluating the first and second sensor signal may comprisederiving the quotient signal Q by dividing the first and second sensorsignals, by dividing multiples of the first and second sensor signals orby dividing linear combinations of the first and second sensor signals.Further, the determining the longitudinal coordinate may compriseevaluating the quotient signal Q.

As also discussed above, the second optical sensor specifically maycomprise at least two photosensitive elements. The method may furthercomprise determining at least one transversal coordinate x, y of theobject by evaluating the sensor signals of the photosensitive elements.

For details, options and definitions, reference may be made to thedetector as discussed above. Thus, specifically, as outlined above, themethod may comprise using the detector according to the presentinvention, such as according to one or more of the embodiments givenabove or given in further detail below.

In a further aspect of the present invention, use of the detectoraccording to the present invention, such as according to one or more ofthe embodiments given above or given in further detail below, isproposed, for a purpose of use, selected from the group consisting of: aposition measurement in traffic technology; an entertainmentapplication; an optical data storage application; a securityapplication; a surveillance application; a safety application; ahuman-machine interface application; a tracking application; aphotography application; an imaging application or camera application; amapping application for generating maps of at least one space; a homingor tracking beacon detector for vehicles; a machine vision application;a robotics application; a quality control application; a manufacturingapplication.

The object generally may be a living or non-living object. The detectoror the detector system even may comprise the at least one object, theobject thereby forming part of the detector system. Preferably, however,the object may move independently from the detector, in at least onespatial dimension. The object generally may be an arbitrary object. Inone embodiment, the object may be a rigid object. Other embodiments arefeasible, such as embodiments in which the object is a non-rigid objector an object which may change its shape.

As will be outlined in further detail below, the present invention mayspecifically be used for tracking positions and/or motions of a person,such as for the purpose of controlling machines, gaming or simulation ofsports. In this or other embodiments, specifically, the object may beselected from the group consisting of: an article of sports equipment,preferably an article selected from the group consisting of a racket, aclub, a bat; an article of clothing; a hat; a shoe.

Thus, generally, the devices according to the present invention, such asthe detector, may be applied in various fields of uses. Specifically,the detector may be applied for a purpose of use, selected from thegroup consisting of: a position measurement in traffic technology; anentertainment application; a security application; a human-machineinterface application; a tracking application; a photographyapplication; a mapping application for generating maps of at least onespace, such as at least one space selected from the group of a room, abuilding and a street; a mobile application; a webcam; an audio device;a dolby surround audio system; a computer peripheral device; a gamingapplication; a camera or video application; a security application; asurveillance application; an automotive application; a transportapplication; a medical application; a sports' application; a machinevision application; a vehicle application; an airplane application; aship application; a spacecraft application; a building application; aconstruction application; a cartography application; a manufacturingapplication. Additionally or alternatively, applications in local and/orglobal positioning systems may be named, especially landmark-basedpositioning and/or navigation, specifically for use in cars or othervehicles (such as trains, motorcycles, bicycles, trucks for cargotransportation), robots or for use by pedestrians. Further, indoorpositioning systems may be named as potential applications, such as forhousehold applications and/or for robots used in manufacturing,logistics, surveillance, or maintenance technology.

The devices according to the present invention may be used in mobilephones, tablet computers, laptops, smart panels or other stationary ormobile or wearable computer or communication applications. Thus, thedevices according to the present invention may be combined with at leastone active light source, such as a light source emitting light in thevisible range or infrared spectral range, in order to enhanceperformance. Thus, as an example, the devices according to the presentinvention may be used as cameras and/or sensors, such as in combinationwith mobile software for scanning and/or detecting environment, objectsand living beings. The devices according to the present invention mayeven be combined with 2D cameras, such as conventional cameras, in orderto increase imaging effects. The devices according to the presentinvention may further be used for surveillance and/or for recordingpurposes or as input devices to control mobile devices, especially incombination with voice and/or gesture recognition. Thus, specifically,the devices according to the present invention acting as human-machineinterfaces, also referred to as input devices, may be used in mobileapplications, such as for controlling other electronic devices orcomponents via the mobile device, such as the mobile phone. As anexample, the mobile application including at least one device accordingto the present invention may be used for controlling a television set, agame console, a music player or music device or other entertainmentdevices.

Further, the devices according to the present invention may be used inwebcams or other peripheral devices for computing applications. Thus, asan example, the devices according to the present invention may be usedin combination with software for imaging, recording, surveillance,scanning or motion detection. As outlined in the context of thehuman-machine interface and/or the entertainment device, the devicesaccording to the present invention are particularly useful for givingcommands by facial expressions and/or body expressions. The devicesaccording to the present invention can be combined with other inputgenerating devices like e.g. mouse, keyboard, touchpad, microphone etc.Further, the devices according to the present invention may be used inapplications for gaming, such as by using a webcam. Further, the devicesaccording to the present invention may be used in virtual trainingapplications and/or video conferences. Further, devices according to thepresent invention may be used to recognize or track hands, arms, orobjects used in a virtual or augmented reality application, especiallywhen wearing head-mounted displays.

Further, the devices according to the present invention may be used inmobile audio devices, television devices and gaming devices, aspartially explained above. Specifically, the devices according to thepresent invention may be used as controls or control devices forelectronic devices, entertainment devices or the like. Further, thedevices according to the present invention may be used for eye detectionor eye tracking, such as in 2D- and 3D-display techniques, especiallywith transparent displays for augmented reality applications and/or forrecognizing whether a display is being looked at and/or from whichperspective a display is being looked at. Further, devices according tothe present invention may be used to explore a room, boundaries,obstacles, in connection with a virtual or augmented realityapplication, especially when wearing a head-mounted display.

Further, the devices according to the present invention may be used inor as digital cameras such as DSC cameras and/or in or as reflex camerassuch as SLR cameras. For these applications, reference may be made tothe use of the devices according to the present invention in mobileapplications such as mobile phones, as disclosed above.

Further, the devices according to the present invention may be used forsecurity or surveillance applications. Thus, as an example, at least onedevice according to the present invention can be combined with one ormore digital and/or analogue electronics that will give a signal if anobject is within or outside a predetermined area (e.g. for surveillanceapplications in banks or museums). Specifically, the devices accordingto the present invention may be used for optical encryption. Detectionby using at least one device according to the present invention can becombined with other detection devices to complement wavelengths, such aswith IR, x-ray, UV-VIS, radar or ultrasound detectors. The devicesaccording to the present invention may further be combined with anactive infrared light source to allow detection in low lightsurroundings. The devices according to the present invention aregenerally advantageous as compared to active detector systems,specifically since the devices according to the present invention avoidactively sending signals which may be detected by third parties, as isthe case e.g. in radar applications, ultrasound applications, LIDAR orsimilar active detector devices. Thus, generally, the devices accordingto the present invention may be used for an unrecognized andundetectable tracking of moving objects. Additionally, the devicesaccording to the present invention generally are less prone tomanipulations and irritations as compared to conventional devices.

Further, given the ease and accuracy of 3D detection by using thedevices according to the present invention, the devices according to thepresent invention generally may be used for facial, body and personrecognition and identification. Therein, the devices according to thepresent invention may be combined with other detection means foridentification or personalization purposes such as passwords, fingerprints, iris detection, voice recognition or other means. Thus,generally, the devices according to the present invention may be used insecurity devices and other personalized applications.

Further, the devices according to the present invention may be used as3D barcode readers for product identification.

In addition to the security and surveillance applications mentionedabove, the devices according to the present invention generally can beused for surveillance and monitoring of spaces and areas. Thus, thedevices according to the present invention may be used for surveying andmonitoring spaces and areas and, as an example, for triggering orexecuting alarms in case prohibited areas are violated. Thus, generally,the devices according to the present invention may be used forsurveillance purposes in building surveillance or museums, optionally incombination with other types of sensors, such as in combination withmotion or heat sensors, in combination with image intensifiers or imageenhancement devices and/or photomultipliers. Further, the devicesaccording to the present invention may be used in public spaces orcrowded spaces to detect potentially hazardous activities such ascommitment of crimes such as theft in a parking lot or unattendedobjects such as unattended baggage in an airport.

Further, the devices according to the present invention mayadvantageously be applied in camera applications such as video andcamcorder applications. Thus, the devices according to the presentinvention may be used for motion capture and 3D-movie recording.Therein, the devices according to the present invention generallyprovide a large number of advantages over conventional optical devices.Thus, the devices according to the present invention generally require alower complexity with regard to optical components. Thus, as an example,the number of lenses may be reduced as compared to conventional opticaldevices, such as by providing the devices according to the presentinvention having one lens only. Due to the reduced complexity, verycompact devices are possible, such as for mobile use. Conventionaloptical systems having two or more lenses with high quality generallyare voluminous, such as due to the general need for voluminousbeam-splitters. Further, the devices according to the present inventiongenerally may be used for focus/autofocus devices, such as autofocuscameras. Further, the devices according to the present invention mayalso be used in optical microscopy, especially in confocal microscopy.

Further, the devices according to the present invention generally areapplicable in the technical field of automotive technology and transporttechnology. Thus, as an example, the devices according to the presentinvention may be used as distance and surveillance sensors, such as foradaptive cruise control, emergency brake assist, lane departure warning,surround view, blind spot detection, traffic sign detection, trafficsign recognition, lane recognition, rear cross traffic alert, lightsource recognition for adapting the head light intensity and rangedepending on approaching traffic or vehicles driving ahead, adaptivefront lighting systems, automatic control of high beam head lights,adaptive cut-off lights in front light systems, glare-free high beamfront lighting systems, marking animals, obstacles, or the like byheadlight illumination, rear cross traffic alert, and other driverassistance systems such as advanced driver assistance systems, or otherautomotive and traffic applications. Further, devices according to thepresent invention may be used in driver assistance systems anticipatingmaneuvers of the driver beforehand for collision avoidance or the like.Further, the devices according to the present invention can also be usedfor velocity and/or acceleration measurements, such as by analyzing afirst and second time-derivative of position information gained by usingthe detector according to the present invention. This feature generallymay be applicable in automotive technology, transportation technology orgeneral traffic technology. Applications in other fields of technologyare feasible. A specific application in an indoor positioning system maybe the detection of positioning of passengers in transportation, morespecifically to electronically control the use of safety systems such asairbags. The use of an airbag may be prevented in case the passenger islocated as such, that the use of an airbag will cause a severe injury.Further, in vehicles such as cars, trains, planes or the like,especially in autonomous vehicles, devices according to the presentinvention may be used to determine whether a driver pays attention tothe traffic or is distracted, or asleep, or tired, or incapable ofdriving such as due to the consumption of alcohol or the like.

In these or other applications, generally, the devices according to thepresent invention may be used as standalone devices or in combinationwith other sensor devices, such as in combination with radar and/orultrasonic devices. Specifically, the devices according to the presentinvention may be used for autonomous driving and safety issues. Further,in these applications, the devices according to the present inventionmay be used in combination with infrared sensors, radar sensors, whichare sonic sensors, two-dimensional cameras or other types of sensors. Inthese applications, the generally passive nature of the devicesaccording to the present invention is advantageous. Thus, since thedevices according to the present invention generally do not requireemitting signals, the risk of interference of active sensor signals withother signal sources may be avoided. The devices according to thepresent invention specifically may be used in combination withrecognition software, such as standard image recognition software. Thus,signals and data as provided by the devices according to the presentinvention typically are readily processable and, therefore, generallyrequire lower calculation power than established 3D measurement systems.Given the low space demand, the devices according to the presentinvention such as cameras may be placed at virtually any place in avehicle, such as on or behind a window screen, on a front hood, onbumpers, on lights, on mirrors or other places and the like. Variousdetectors according to the present invention such as one or moredetectors based on the effect disclosed within the present invention canbe combined, such as in order to allow autonomously driving vehicles orin order to increase the performance of active safety concepts. Thus,various devices according to the present invention may be combined withone or more other devices according to the present invention and/orconventional sensors, such as in the windows like rear window, sidewindow or front window, on the bumpers or on the lights.

A combination of at least one device according to the present inventionsuch as at least one detector according to the present invention withone or more rain detection sensors is also possible. This is due to thefact that the devices according to the present invention generally areadvantageous over conventional sensor techniques such as radar,specifically during heavy rain. A combination of at least one deviceaccording to the present invention with at least one conventionalsensing technique such as radar may allow for a software to pick theright combination of signals according to the weather conditions.

Further, the devices according to the present invention generally may beused as break assist and/or parking assist and/or for speedmeasurements. Speed measurements can be integrated in the vehicle or maybe used outside the vehicle, such as in order to measure the speed ofother cars in traffic control. Further, the devices according to thepresent invention may be used for detecting free parking spaces inparking lots.

Further, the devices according to the present invention may be used inthe fields of medical systems and sports. Thus, in the field of medicaltechnology, surgery robotics, e.g. for use in endoscopes, may be named,since, as outlined above, the devices according to the present inventionmay require a low volume only and may be integrated into other devices.Specifically, the devices according to the present invention having onelens, at most, may be used for capturing 3D information in medicaldevices such as in endoscopes. Further, the devices according to thepresent invention may be combined with an appropriate monitoringsoftware, in order to enable tracking and analysis of movements. Thismay allow an instant overlay of the position of a medical device, suchas an endoscope or a scalpel, with results from medical imaging, such asobtained from magnetic resonance imaging, x-ray imaging, or ultrasoundimaging. These applications are specifically valuable e.g. in medicaltreatments where precise location information is important such as inbrain surgery and long-distance diagnosis and tele-medicine. Further,the devices according to the present invention may be used in 3D-bodyscanning. Body scanning may be applied in a medical context, such as indental surgery, plastic surgery, bariatric surgery, or cosmetic plasticsurgery, or it may be applied in the context of medical diagnosis suchas in the diagnosis of myofascial pain syndrome, cancer, body dysmorphicdisorder, or further diseases. Body scanning may further be applied inthe field of sports to assess ergonomic use or fit of sports equipment.Further, the devices according to the present invention may be used inwearable robots such as in exoskeletons or prosthesis or the like.

Body scanning may further be used in the context of clothing, such as todetermine a suitable size and fitting of clothes. This technology may beused in the context of tailor-made clothes or in the context of orderingclothes or shoes from the internet or at a self-service shopping devicesuch as a micro kiosk device or customer concierge device. Body scanningin the context of clothing is especially important for scanning fullydressed customers.

Further, the devices according to the present invention may be used inthe context of people counting systems, such as to count the number ofpeople in an elevator, a train, a bus, a car, or a plane, or to countthe number of people passing a hallway, a door, an aisle, a retailstore, a stadium, an entertainment venue, a museum, a library, a publiclocation, a cinema, a theater, or the like. Further, the 3D-function inthe people counting system may be used to obtain or estimate furtherinformation about the people that are counted such as height, weight,age, physical fitness, or the like. This information may be used forbusiness intelligence metrics, and/or for further optimizing thelocality where people may be counted to make it more attractive or safe.In a retail environment, the devices according to the present inventionin the context of people counting may be used to recognize returningcustomers or cross shoppers, to assess shopping behavior, to assess thepercentage of visitors that make purchases, to optimize staff shifts, orto monitor the costs of a shopping mall per visitor. Further, peoplecounting systems may be used for anthropometric surveys. Further, thedevices according to the present invention may be used in publictransportation systems for automatically charging passengers dependingon the length of transport. Further, the devices according to thepresent invention may be used in playgrounds for children, to recognizeinjured children or children engaged in dangerous activities, to allowadditional interaction with playground toys, to ensure safe use ofplayground toys or the like.

Further the devices according to the present invention may be used inconstruction tools, such as a range meter that determines the distanceto an object or to a wall, to assess whether a surface is planar, toalign objects or place objects in an ordered manner, or in inspectioncameras for use in construction environments or the like.

Further, the devices according to the present invention may be appliedin the field of sports and exercising, such as for training, remoteinstructions or competition purposes. Specifically, the devicesaccording to the present invention may be applied in the fields ofdancing, aerobic, football, soccer, basketball, baseball, cricket,hockey, track and field, swimming, polo, handball, volleyball, rugby,sumo, judo, fencing, boxing, golf, car racing, laser tag, battlefieldsimulation etc. The devices according to the present invention can beused to detect the position of a ball, a bat, a sword, motions, etc.,both in sports and in games, such as to monitor the game, support thereferee or for judgment, specifically automatic judgment, of specificsituations in sports, such as for judging whether a point or a goalactually was made.

Further, the devices according to the present invention may be used inthe field of auto racing or car driver training or car safety trainingor the like to determine the position of a car or the track of a car, orthe deviation from a previous track or an ideal track or the like.

The devices according to the present invention may further be used tosupport a practice of musical instruments, in particular remote lessons,for example lessons of string instruments, such as fiddles, violins,violas, celli, basses, harps, guitars, banjos, or ukuleles, keyboardinstruments, such as pianos, organs, keyboards, harpsichords,harmoniums, or accordions, and/or percussion instruments, such as drums,timpani, marimbas, xylophones, vibraphones, bongos, congas, timbales,djembes or tablas.

The devices according to the present invention further may be used inrehabilitation and physiotherapy, in order to encourage training and/orin order to survey and correct movements. Therein, the devices accordingto the present invention may also be applied for distance diagnostics.

Further, the devices according to the present invention may be appliedin the field of machine vision. Thus, one or more of the devicesaccording to the present invention may be used e.g. as a passivecontrolling unit for autonomous driving and or working of robots. Incombination with moving robots, the devices according to the presentinvention may allow for autonomous movement and/or autonomous detectionof failures in parts. The devices according to the present invention mayalso be used for manufacturing and safety surveillance, such as in orderto avoid accidents including but not limited to collisions betweenrobots, production parts and living beings. In robotics, the safe anddirect interaction of humans and robots is often an issue, as robots mayseverely injure humans when they are not recognized. Devices accordingto the present invention may help robots to position objects and humansbetter and faster and allow a safe interaction. Given the passive natureof the devices according to the present invention, the devices accordingto the present invention may be advantageous over active devices and/ormay be used complementary to existing solutions like radar, ultrasound,2D cameras, IR detection etc. One particular advantage of the devicesaccording to the present invention is the low likelihood of signalinterference. Therefore multiple sensors can work at the same time inthe same environment, without the risk of signal interference. Thus, thedevices according to the present invention generally may be useful inhighly automated production environments like e.g. but not limited toautomotive, mining, steel, etc. The devices according to the presentinvention can also be used for quality control in production, e.g. incombination with other sensors like 2-D imaging, radar, ultrasound, IRetc., such as for quality control or other purposes. Further, thedevices according to the present invention may be used for assessment ofsurface quality, such as for surveying the surface evenness of a productor the adherence to specified dimensions, from the range of micrometersto the range of meters. Other quality control applications are feasible.In a manufacturing environment, the devices according to the presentinvention are especially useful for processing natural products such asfood or wood, with a complex 3-dimensional structure to avoid largeamounts of waste material. Further, devices according to the presentinvention may be used to monitor the filling level of tanks, silos etc.Further, devices according to the present invention may be used toinspect complex products for missing parts, incomplete parts, looseparts, low quality parts, or the like, such as in automatic opticalinspection, such as of printed circuit boards, inspection of assembliesor sub-assemblies, verification of engineered components, engine partinspections, wood quality inspection, label inspections, inspection ofmedical devices, inspection of product orientations, packaginginspections, food pack inspections, or the like.

Further, the devices according to the present invention may be used invehicles, trains, airplanes, ships, spacecraft and other trafficapplications. Thus, besides the applications mentioned above in thecontext of traffic applications, passive tracking systems for aircraft,vehicles and the like may be named. The use of at least one deviceaccording to the present invention, such as at least one detectoraccording to the present invention, for monitoring the speed and/or thedirection of moving objects is feasible. Specifically, the tracking offast moving objects on land, sea and in the air including space may benamed. The at least one device according to the present invention, suchas the at least one detector according to the present invention,specifically may be mounted on a still-standing and/or on a movingdevice. An output signal of the at least one device according to thepresent invention can be combined e.g. with a guiding mechanism forautonomous or guided movement of another object. Thus, applications foravoiding collisions or for enabling collisions between the tracked andthe steered object are feasible. The devices according to the presentinvention generally are useful and advantageous due to the lowcalculation power required, the instant response and due to the passivenature of the detection system which generally is more difficult todetect and to disturb as compared to active systems, like e.g. radar.The devices according to the present invention are particularly usefulbut not limited to e.g. speed control and air traffic control devices.Further, the devices according to the present invention may be used inautomated tolling systems for road charges.

The devices according to the present invention generally may be used inpassive applications. Passive applications include guidance for ships inharbors or in dangerous areas, and for aircraft when landing orstarting. Wherein, fixed, known active targets may be used for preciseguidance. The same can be used for vehicles driving on dangerous butwell defined routes, such as mining vehicles. Further, the devicesaccording to the present invention may be used to detect rapidlyapproaching objects, such as cars, trains, flying objects, animals, orthe like. Further, the devices according to the present invention can beused for detecting velocities or accelerations of objects, or to predictthe movement of an object by tracking one or more of its position,speed, and/or acceleration depending on time.

Further, as outlined above, the devices according to the presentinvention may be used in the field of gaming. Thus, the devicesaccording to the present invention can be passive for use with multipleobjects of the same or of different size, color, shape, etc., such asfor movement detection in combination with software that incorporatesthe movement into its content. In particular, applications are feasiblein implementing movements into graphical output. Further, applicationsof the devices according to the present invention for giving commandsare feasible, such as by using one or more of the devices according tothe present invention for gesture or facial recognition. The devicesaccording to the present invention may be combined with an active systemin order to work under e.g. low light conditions or in other situationsin which enhancement of the surrounding conditions is required.Additionally or alternatively, a combination of one or more devicesaccording to the present invention with one or more IR or VIS lightsources is possible. A combination of a detector according to thepresent invention with special devices is also possible, which can bedistinguished easily by the system and its software, e.g. and notlimited to, a special color, shape, relative position to other devices,speed of movement, light, frequency used to modulate light sources onthe device, surface properties, material used, reflection properties,transparency degree, absorption characteristics, etc. The device can,amongst other possibilities, resemble a stick, a racket, a club, a gun,a knife, a wheel, a ring, a steering wheel, a bottle, a ball, a glass, avase, a spoon, a fork, a cube, a dice, a figure, a puppet, a teddy, abeaker, a pedal, a switch, a glove, jewelry, a musical instrument or anauxiliary device for playing a musical instrument, such as a plectrum, adrumstick or the like. Other options are feasible.

Further, the devices according to the present invention may be used todetect and or track objects that emit light by themselves, such as dueto high temperature or further light emission processes. The lightemitting part may be an exhaust stream or the like. Further, the devicesaccording to the present invention may be used to track reflectingobjects and analyze the rotation or orientation of these objects.

Further, the devices according to the present invention generally may beused in the field of building, construction and cartography. Thus,generally, one or more devices according to the present invention may beused in order to measure and/or monitor environmental areas, e.g.countryside or buildings. Therein, one or more devices according to thepresent invention may be combined with other methods and devices or canbe used solely in order to monitor progress and accuracy of buildingprojects, changing objects, houses, etc. The devices according to thepresent invention can be used for generating three-dimensional models ofscanned environments, in order to construct maps of rooms, streets,houses, communities or landscapes, both from ground or from air.Potential fields of application may be construction, cartography, realestate management, land surveying or the like. As an example, thedevices according to the present invention may be used in drones ormulticopters to monitor buildings, production sites, chimneys,agricultural production environments such as fields, production plants,or landscapes, to support rescue operations, to support work indangerous environments, to support fire brigades in a burning locationindoors or outdoors, or to find or monitor one or more persons oranimals, or the like, or for entertainment purposes, such as a dronefollowing and recording one or more persons doing sports such as skiingor cycling or the like, which could be realized by following a helmet, amark, a beacon device, or the like. Devices according to the presentinvention could be used recognize obstacles, follow a predefined route,follow an edge, a pipe, a building, or the like, or to record a globalor local map of the environment. Further, devices according to thepresent invention could be used for indoor or outdoor localization andpositioning of drones, for stabilizing the height of a drone indoorswhere barometric pressure sensors are not accurate enough, or for theinteraction of multiple drones such as concertized movements of severaldrones or recharging or refueling in the air or the like.

Further, the devices according to the present invention may be usedwithin an interconnecting network of home appliances such as CHAIN(Cedec Home Appliances Interoperating Network) to interconnect,automate, and control basic appliance-related services in a home, e.g.energy or load management, remote diagnostics, pet related appliances,child related appliances, child surveillance, appliances relatedsurveillance, support or service to elderly or ill persons, homesecurity and/or surveillance, remote control of appliance operation, andautomatic maintenance support. Further, the devices according to thepresent invention may be used in heating or cooling systems such as anair-conditioning system, to locate which part of the room should bebrought to a certain temperature or humidity, especially depending onthe location of one or more persons. Further, the devices according tothe present invention may be used in domestic robots, such as service orautonomous robots which may be used for household chores. The devicesaccording to the present invention may be used for a number of differentpurposes, such as to avoid collisions or to map the environment, butalso to identify a user, to personalize the robot's performance for agiven user, for security purposes, or for gesture or facial recognition.As an example, the devices according to the present invention may beused in robotic vacuum cleaners, floor-washing robots, dry-sweepingrobots, ironing robots for ironing clothes, animal litter robots, suchas dog or cat litter robots, charging robot for electrical vehicles,security robots that detect intruders, robotic lawn mowers, automatedpool cleaners, rain gutter cleaning robots, robotic shopping carts,luggage carrying robots, line following robots, laundry robots, ironingrobots, window washing robots, toy robots, patient monitoring robots,baby monitoring robots, elderly monitoring robots, children monitoringrobots, transport robots, telepresence robots, professional servicerobots, programmable toy robots, pathfinder robots, social robotsproviding company to less mobile people, following robots, smart cardfollowing robots, psychotherapy robots, or robots translating and speechto sign language or sign language to speech. In the context of lessmobile people, such as elderly persons, household robots with thedevices according to the present invention may be used for picking upobjects, transporting objects, and interacting with the objects and theuser in a safe way. Further, the devices according to the presentinvention may be used in humanoid robots, especially in the context ofusing humanoid hands to pick up or hold or place objects. Further, thedevices according to the present invention may be used in combinationwith audio interfaces especially in combination with household robotswhich may serve as a digital assistant with interfaces to online oroffline computer applications. Further, the devices according to thepresent invention may be used in robots that can control switches andbuttons in industrial and household purposes. Further, the devicesaccording to the present invention may be used in smart home robots suchas Mayfield's Kuri. Further the devices according to the presentinvention may be used in robots operating with hazardous materials orobjects or in dangerous environments. As a non-limiting example, thedevices according to the present invention may be used in robots orunmanned remote-controlled vehicles to operate with hazardous materialssuch as chemicals or radioactive materials especially after disasters,or with other hazardous or potentially hazardous objects such as mines,unexploded arms, or the like, or to operate in or to investigateinsecure environments such as near burning objects or post disasterareas or for manned or unmanned rescue operations in the air, in thesea, underground, or the like.

Further, devices according to the present invention may be used for theinspection of adhesive beads, sealing beads, or the like, such as torecognize disruptions, slubs, contractions, asymetries, local defects,or the like. Further, devices according to the present invention may beused to count objects such as dry fruits on a conveyer belt, such as indifficult situations, such as when fruit of similar color and shape maybe in direct contact with each other. Further, devices according to thepresent invention may be used in quality control of die cast orinjection molded parts such as to ensure flawless casting or molding,recognize surface damages, worn out toolings or the like. Further,devices according to the present invention may be used for laserscribingsuch as for quality control and positioning of the laser. Further,devices according to the present invention may be used for sortingsystems, such as to detect position, rotation, and shape of an object,compare it to a database of objects, and classify the object. Further,devices according to the present invention may be used for stamping partinspection, packaging inspection, such as food and pharma packaginginspection, filament inspection, or the like.

Further, devices according to the present invention may be used fornavigation purposes, where Global Positioning Systems (GPS) are notsufficiently reliable. GPS signals commonly use radio waves that are canbe blocked or difficult to receive indoors or outdoors in valleys or inforests below the treeline. Further, especially in unmanned autonomousvehicles, the weight of the system may be critical. Especially unmannedautonomous vehicles need high-speed position data for reliable feedbackand stability of their control systems. Using devices according to thepresent invention may allow short time response and positioning withoutadding weight due to a heavy device.

Further, the devices according to the present invention may be used inhousehold, mobile or entertainment devices, such as a refrigerator, amicrowave, a washing machine, a window blind or shutter, a householdalarm, an air condition devices, a heating device, a television, anaudio device, a smart watch, a mobile phone, a phone, a dishwasher, astove or the like, to detect the presence of a person, to monitor thecontents or function of the device, or to interact with the personand/or share information about the person with further household, mobileor entertainment devices.

Further, the devices according to the present invention may be used tosupport elderly or disabled persons or persons with limited or novision, such as in household chores or at work such as in devices forholding, carrying, or picking objects, or in a safety system withoptical or acoustical signals signaling obstacles in the environment.

The devices according to the present invention may further be used inagriculture, for example to detect and sort out vermin, weeds, and/orinfected crop plants, fully or in parts, wherein crop plants may beinfected by fungus or insects. Further, for harvesting crops, thedevices according to the present invention may be used to detectanimals, such as deer, which may otherwise be harmed by harvestingdevices. Further, the devices according to the present invention may beused to monitor the growth of plants in a field or greenhouse, inparticular to adjust the amount of water or fertilizer or cropprotection products for a given region in the field or greenhouse oreven for a given plant. Further, in agricultural biotechnology, thedevices according to the present invention may be used to monitor thesize and shape of plants.

Further, devices according to the present invention may be used toautomatically remove weeds such as with mechanical means, such as toavoid the use of herbicides. Further, devices according to the presentinvention may be used in the field of agriculture, in particular todetect and/or locate specific insects such as to decide whether or notto apply a crop protection or fertilization substance, such as to reducethe amount of applied substance or to protect specific groups of animalssuch as bees.

Further, devices according to the present invention may be used to guideusers during a shaving, hair cutting, or cosmetics procedure, or thelike. Further, devices according to the present invention may be used torecord or monitor what is played on an instrument, such as a violin.Further, devices according to the present invention may be used in smarthousehold appliances such as a smart refrigerator, such as to monitorthe contents of the refrigerator and transmit notifications depending onthe contents. Further, devices according to the present invention may beused for monitoring or tracking populations of humans, animals, orplants, such as dear or tree populations in forests. Further, devicesaccording to the present invention may be used in harvesting machines,such as for harvesting crops, flowers or fruits, such as grapes, corn,hops, apples, grains, rice, strawberries, asparagus, tulips, roses, soybeans, or the like. Further, devices according to the present inventionmay be used to monitor the growth of plants, animals, algae, fish, orthe like, such as in breeding, food production, agriculture or researchapplications, to control irrigation, fertilization, humidity,temperature, use of herbicides, insecticides, fungicides, rodenticides,or the like. Further, devices according to the present invention may beused in feeding machines for animals or pets, such as for cows, pigs,cats, dogs, birds, fish, or the like. Further, devices according to thepresent invention may be used in animal product production processes,such as for collecting milk, eggs, fur, meat, or the like, such as inautomated milking or butchering processes. Further, devices according tothe present invention may be used for automated seeding machines, orsowing machines, or planting machines such as for planting corn, garlic,trees, salad or the like. Further, devices according to the presentinvention may be used to assess or monitor weather phenomena, such asclouds, fog, or the like, or to warn from danger of avalanches,tsunamis, gales, earthquakes, thunder storms, or the like. Further,devices according to the present invention may be used to measuremotions, shocks, concussions, or the like such as to monitor earthquakerisk. Further, devices according to the present invention may be used intraffic technology to monitor dangerous crossings, to control trafficlights depending on traffic, to monitor public spaces, to monitor roads,gyms, stadiums, ski resorts, public events, or the like. Further,devices according to the present invention may be used in medicalapplications such as to monitor or analyze tissues, medical orbiological assays, changes in tissues such as in moles or melanoma orthe like, to count bacteria, blood cells, cells, algae, or the like, forretina scans, breath or pulse measurements, gastroscopy, patientsurveillance, or the like. Further, devices according to the presentinvention may be used to monitor the shape, size, or circumference ofdrops, streams, jets, or the like or to analyze, assess, or monitorprofiles or gas or liquid currents such as in a wind channel, or thelike. Further, devices according to the present invention may be used towarn drivers such as car or train drivers when they are getting sick ortired or the like. Further, devices according to the present inventionmay be used in material testing to recognize strains or tensions orfissures, or the like. Further, devices according to the presentinvention may be used in sailing to monitor and optimize sail positionssuch as automatically. Further, devices according to the presentinvention may be used for fuel level gauges.

Further, the devices according to the present invention may be combinedwith sensors to detect chemicals or pollutants, electronic nose chips,microbe sensor chips to detect bacteria or viruses or the like, Geigercounters, tactile sensors, heat sensors, or the like. This may forexample be used in constructing smart robots which are configured forhandling dangerous or difficult tasks, such as in treating highlyinfectious patients, handling or removing highly dangerous substances,cleaning highly polluted areas, such as highly radioactive areas orchemical spills, or for pest control in agriculture.

One or more devices according to the present invention can further beused for scanning of objects, such as in combination with CAD or similarsoftware, such as for additive manufacturing and/or 3D printing.Therein, use may be made of the high dimensional accuracy of the devicesaccording to the present invention, e.g. in x-, y- or z-direction or inany arbitrary combination of these directions, such as simultaneously.Further, the devices according to the present invention may be used ininspections and maintenance, such as pipeline inspection gauges.Further, in a production environment, the devices according to thepresent invention may be used to work with objects of a badly definedshape such as naturally grown objects, such as sorting vegetables orother natural products by shape or size or cutting products such as meator objects that are manufactured with a precision that is lower than theprecision needed for a processing step.

Further the devices according to the present invention may be used inlocal navigation systems to allow autonomously or partially autonomouslymoving vehicles or multicopters or the like through an indoor or outdoorspace. A non-limiting example may comprise vehicles moving through anautomated storage for picking up objects and placing them at a differentlocation. Indoor navigation may further be used in shopping malls,retail stores, museums, airports, or train stations, to track thelocation of mobile goods, mobile devices, baggage, customers oremployees, or to supply users with a location specific information, suchas the current position on a map, or information on goods sold, or thelike.

Further, the devices according to the present invention may be used toensure safe driving of motorcycles such as driving assistance formotorcycles by monitoring speed, inclination, upcoming obstacles,unevenness of the road, or curves or the like. Further, the devicesaccording to the present invention may be used in trains or trams toavoid collisions.

Further, the devices according to the present invention may be used inhandheld devices, such as for scanning packaging or parcels to optimizea logistics process. Further, the devices according to the presentinvention may be used in further handheld devices such as personalshopping devices, RFID-readers, handheld devices for use in hospitals orhealth environments such as for medical use or to obtain, exchange orrecord patient or patient health related information, smart badges forretail or health environments, or the like.

As outlined above, the devices according to the present invention mayfurther be used in manufacturing, quality control or identificationapplications, such as in product identification or size identification(such as for finding an optimal place or package, for reducing wasteetc.). Further, the devices according to the present invention may beused in logistics applications. Thus, the devices according to thepresent invention may be used for optimized loading or packingcontainers or vehicles. Further, the devices according to the presentinvention may be used for monitoring or controlling of surface damagesin the field of manufacturing, for monitoring or controlling rentalobjects such as rental vehicles, and/or for insurance applications, suchas for assessment of damages. Further, the devices according to thepresent invention may be used for identifying a size of material, objector tools, such as for optimal material handling, especially incombination with robots. Further, the devices according to the presentinvention may be used for process control in production, e.g. forobserving filling level of tanks. Further, the devices according to thepresent invention may be used for maintenance of production assets like,but not limited to, tanks, pipes, reactors, tools etc. Further, thedevices according to the present invention may be used for analyzing3D-quality marks. Further, the devices according to the presentinvention may be used in manufacturing tailor-made goods such as toothinlays, dental braces, prosthesis, clothes or the like. The devicesaccording to the present invention may also be combined with one or more3D-printers for rapid prototyping, 3D-copying or the like. Further, thedevices according to the present invention may be used for detecting theshape of one or more articles, such as for anti-product piracy and foranti-counterfeiting purposes.

Thus, specifically, the present application may be applied in the fieldof photography. Thus, the detector may be part of a photographic device,specifically of a digital camera. Specifically, the detector may be usedfor 3D photography, specifically for digital 3D photography. Thus, thedetector may form a digital 3D camera or may be part of a digital 3Dcamera. As used herein, the term photography generally refers to thetechnology of acquiring image information of at least one object. Asfurther used herein, a camera generally is a device adapted forperforming photography. As further used herein, the term digitalphotography generally refers to the technology of acquiring imageinformation of at least one object by using a plurality oflight-sensitive elements adapted to generate electrical signalsindicating an intensity and/or color of illumination, preferably digitalelectrical signals. As further used herein, the term 3D photographygenerally refers to the technology of acquiring image information of atleast one object in three spatial dimensions. Accordingly, a 3D camerais a device adapted for performing 3D photography. The camera generallymay be adapted for acquiring a single image, such as a single 3D image,or may be adapted for acquiring a plurality of images, such as asequence of images. Thus, the camera may also be a video camera adaptedfor video applications, such as for acquiring digital video sequences.

Thus, generally, the present invention further refers to a camera,specifically a digital camera, more specifically a 3D camera or digital3D camera, for imaging at least one object. As outlined above, the termimaging, as used herein, generally refers to acquiring image informationof at least one object. The camera comprises at least one detectoraccording to the present invention. The camera, as outlined above, maybe adapted for acquiring a single image or for acquiring a plurality ofimages, such as image sequence, preferably for acquiring digital videosequences. Thus, as an example, the camera may be or may comprise avideo camera. In the latter case, the camera preferably comprises a datamemory for storing the image sequence.

As used within the present invention, the expression “position”generally refers to at least one item of information regarding one ormore of an absolute position and an orientation of one or more points ofthe object. Thus, specifically, the position may be determined in acoordinate system of the detector, such as in a Cartesian coordinatesystem. Additionally or alternatively, however, other types ofcoordinate systems may be used, such as polar coordinate systems and/orspherical coordinate systems.

As outlined above and as will be outlined in further detail below, thepresent invention preferably may be applied in the field ofhuman-machine interfaces, in the field of sports and/or in the field ofcomputer games. Thus, preferably, the object may be selected from thegroup consisting of: an article of sports equipment, preferably anarticle selected from the group consisting of a racket, a club, a bat,an article of clothing, a hat, a shoe. Other embodiments are feasible.

As used herein, the object generally may be an arbitrary object, chosenfrom a living object and a non-living object. Thus, as an example, theat least one object may comprise one or more articles and/or one or moreparts of an article. Additionally or alternatively, the object may be ormay comprise one or more living beings and/or one or more parts thereof,such as one or more body parts of a human being, e.g. a user, and/or ananimal.

With regard to the coordinate system for determining the position of theobject, which may be a coordinate system of the detector, the detectormay constitute a coordinate system in which an optical axis of thedetector forms the z-axis and in which, additionally, an x-axis and ay-axis may be provided which are perpendicular to the z-axis and whichare perpendicular to each other. As an example, the detector and/or apart of the detector may rest at a specific point in this coordinatesystem, such as at the origin of this coordinate system. In thiscoordinate system, a direction parallel or antiparallel to the z-axismay be regarded as a longitudinal direction, and a coordinate along thez-axis may be considered a longitudinal coordinate. An arbitrarydirection perpendicular to the longitudinal direction may be considereda transversal direction, and an x- and/or y-coordinate may be considereda transversal coordinate.

Alternatively, other types of coordinate systems may be used. Thus, asan example, a polar coordinate system may be used in which the opticalaxis forms a z-axis and in which a distance from the z-axis and a polarangle may be used as additional coordinates. Again, a direction parallelor antiparallel to the z-axis may be considered a longitudinaldirection, and a coordinate along the z-axis may be considered alongitudinal coordinate. Any direction perpendicular to the z-axis maybe considered a transversal direction, and the polar coordinate and/orthe polar angle may be considered a transversal coordinate.

The detector may be a device configured for providing at least one itemof information on the position of the at least one object and/or a partthereof. Thus, the position may refer to an item of information fullydescribing the position of the object or a part thereof, preferably inthe coordinate system of the detector, or may refer to a partialinformation, which only partially describes the position. The detectorgenerally may be a device adapted for detecting light beams, such as thelight beams propagating from the beacon devices towards the detector.

The evaluation device and the detector may fully or partially beintegrated into a single device. Thus, generally, the evaluation devicealso may form part of the detector. Alternatively, the evaluation deviceand the detector may fully or partially be embodied as separate devices.The detector may comprise further components.

The detector may be a stationary device or a mobile device. Further, thedetector may be a stand-alone device or may form part of another device,such as a computer, a vehicle or any other device. Further, the detectormay be a hand-held device. Other embodiments of the detector arefeasible.

The detector specifically may be used to record a light-field behind alens or lens system of the detector, comparable to a plenoptic orlight-field camera. Thus, specifically, the detector may be embodied asa light-field camera adapted for acquiring images in multiple focalplanes, such as simultaneously. The term light-field, as used herein,generally refers to the spatial light propagation of light inside thedetector such as inside camera. The detector according to the presentinvention, specifically having a stack of optical sensors, may have thecapability of directly recording a light-field within the detector orcamera, such as behind a lens. The plurality of sensors may recordimages at different distances from the lens. Using, e.g.,convolution-based algorithms such as “depth from focus” or “depth fromdefocus”, the propagation direction, focus points, and spread of thelight behind the lens can be modeled. From the modeled propagation oflight behind the lens, images at various distances to the lens can beextracted, the depth of field can be optimized, pictures that are infocus at various distances can be extracted, or distances of objects canbe calculated. Further information may be extracted.

The use of several optical sensors further allows for correcting lenserrors in an image processing step after recording the images. Opticalinstruments often become expensive and challenging in construction, whenlens errors need to be corrected. These are especially problematic inmicroscopes and telescopes. In microscopes, a typical lens error is thatrays of varying distance to the optical axis are distorted differently(spherical aberration). In telescopes, varying the focus may occur fromdiffering temperatures in the atmosphere. Static errors such asspherical aberration or further errors from production may be correctedby determining the errors in a calibration step and then using a fixedimage processing such as fixed set of pixels and sensor, or moreinvolved processing techniques using light propagation information. Incases in which lens errors are strongly time-dependent, i.e. dependenton weather conditions in telescopes, the lens errors may be corrected byusing the light propagation behind the lens, calculating extended depthof field images, using depth from focus techniques, and others.

The detector according to the present invention may further allow forcolor detection. For color detection, a plurality of optical sensorshaving different spectral properties may be used, and sensor signals ofthese optical sensors may be compared. Further, the devices according tothe present invention may be used in the context of gesture recognition.In this context, gesture recognition in combination with devicesaccording to the present invention may, in particular, be used as ahuman-machine interface for transmitting information via motion of abody, of body parts or of objects to a machine. Herein, the informationmay, preferably, be transmitted via a motion of hands or hand parts,such as fingers, in particular, by pointing at objects, applying signlanguage, such as for deaf people, making signs for numbers, approval,disapproval, or the like, by waving the hand, such as when askingsomeone to approach, to leave, or to greet a person, to press an object,to take an object, or, in the field of sports or music, in a hand orfinger exercise, such as a warm-up exercise. Further, the informationmay be transmitted by motion of arms or legs, such as rotating, kicking,grabbing, twisting, rotating, scrolling, browsing, pushing, bending,punching, shaking, arms, legs, both arms, or both legs, or a combinationof arms and legs, such as for a purpose of sports or music, such as forentertainment, exercise, or training function of a machine. Further, theinformation may be transmitted by motion of the whole body or majorparts thereof, such as jumping, rotating, or making complex signs, suchas sign language used at airports or by traffic police in order totransmit information, such as “turn right”, “turn left”, “proceed”,“slow down”, “stop”, or “stop engines”, or by pretending to swim, todive, to run, to shoot, or the like, or by making complex motions orbody positions such as in yoga, pilates, judo, karate, dancing, orballet. Further, the information may be transmitted by using a real ormock-up device for controlling a virtual device corresponding to themock-up device, such as using a mock-up guitar for controlling a virtualguitar function in a computer program, using a real guitar forcontrolling a virtual guitar function in a computer program, using areal or a mock-up book for reading an e-book or moving pages or browsingthrough in a virtual document, using a real or mock-up pen for drawingin a computer program, or the like. Further, the transmission of theinformation may be coupled to a feedback to the user, such as a sound, avibration, or a motion.

In the context of music and/or instruments, devices according to thepresent invention in combination with gesture recognition may be usedfor exercising purposes, control of instruments, recording ofinstruments, playing or recording of music via use of a mock-upinstrument or by only pretending to have a instrument present such asplaying air guitar, such as to avoid noise or make recordings, or, forconducting of a virtual orchestra, ensemble, band, big band, choir, orthe like, for practicing, exercising, recording or entertainmentpurposes or the like.

Further, in the context of safety and surveillance, devices according tothe present invention in combination with gesture recognition may beused to recognize motion profiles of persons, such as recognizing aperson by the way of walking or moving the body, or to use hand signs ormovements or signs or movements of body parts or the whole body asaccess or identification control such as a personal identification signor a personal identification movement.

Further, in the context of smart home applications or internet ofthings, devices according to the present invention in combination withgesture recognition may be used for central or non-central control ofhousehold devices which may be part of an interconnecting network ofhome appliances and/or household devices, such as refrigerators, centralheating, air condition, microwave ovens, ice cube makers, or waterboilers, or entertainment devices, such as television sets, smartphones, game consoles, video recorders, DVD players, personal computers,laptops, tablets, or combinations thereof, or a combination of householddevices and entertainment devices.

Further, in the context of virtual reality or of augmented reality,devices according to the present invention in combination with gesturerecognition may be used to control movements or function of the virtualreality application or of the augmented reality application, such asplaying or controlling a game using signs, gestures, body movements orbody part movements or the like, moving through a virtual world,manipulating virtual objects, practicing, exercising or playing sports,arts, crafts, music or games using virtual objects such as a ball, chessfigures, go stones, instruments, tools, brushes.

Further, in the context of medicine, devices according to the presentinvention in combination with gesture recognition may be used to supportrehabilitation training, remote diagnostics, or to monitor or surveysurgery or treatment, to overlay and display medical images withpositions of medical devices, or to overlay display prerecorded medicalimages such as from magnetic resonance tomography or x-ray or the likewith images from endoscopes or ultra sound or the like that are recordedduring an surgery or treatment.

Further, in the context of manufacturing and process automation, devicesaccording to the present invention in combination with gesturerecognition may be used to control, teach, or program robots, drones,unmanned autonomous vehicles, service robots, movable objects, or thelike, such as for programming, controlling, manufacturing, manipulating,repairing, or teaching purposes, or for remote manipulating of objectsor areas, such as for safety reasons, or for maintenance purposes.

Further, in the context of business intelligence metrics, devicesaccording to the present invention in combination with gesturerecognition may be used for people counting, surveying customermovements, areas where customers spend time, objects, customers test,take, probe, or the like.

Further, devices according to the present invention may be used in thecontext of do-it-yourself or professional tools, especially electric ormotor driven tools or power tools, such as drilling machines, saws,chisels, hammers, wrenches, staple guns, disc cutters, metals shears andnibbiers, angle grinders, die grinders, drills, hammer drills, heatguns, wrenches, sanders, engraivers, nailers, jig saws, buiscuitjoiners, wood routers, planers, polishers, tile cutters, washers,rollers, wall chasers, lathes, impact drivers, jointers, paint rollers,spray guns, morticers, or welders, in particular, to support precisionin manufacturing, keeping a minimum or maximum distance, or for safetymeasures.

Further, the devices according to the present invention may be used toaid visually impaired persons. Further, devices according to the presentinvention may be used in touch screen such as to avoid direct contextsuch as for hygienic reasons, which may be used in retail environments,in medical applications, in production environments, or the like.Further, devices according to the present invention may be used inagricultural production environments such as in stable cleaning robots,egg collecting machines, milking machines, harvesting machines, farmmachinery, harvesters, forwarders, combine harvesters, tractors,cultivators, ploughs, destoners, harrows, strip tills, broadcastseeders, planters such as potato planters, manure spreaders, sprayers,sprinkler systems, swathers, balers, loaders, forklifts, mowers, or thelike.

Further, devices according to the present invention may be used forselection and/or adaption of clothing, shoes, glasses, hats, prosthesis,dental braces, for persons or animals with limited communication skillsor possibilities, such as children or impaired persons, or the like.Further, devices according to the present invention may be used in thecontext of warehouses, logistics, distribution, shipping, loading,unloading, smart manufacturing, industry 4.0, or the like. Further, in amanufacturing context, devices according to the present invention may beused in the context of processing, dispensing, bending, materialhandling, or the like.

The evaluation device may be or may comprise one or more integratedcircuits, such as one or more application-specific integrated circuits(ASICs), and/or one or more data processing devices, such as one or morecomputers, preferably one or more microcomputers and/ormicrocontrollers, Field Programmable Arrays, or Digital SignalProcessors. Additional components may be comprised, such as one or morepreprocessing devices and/or data acquisition devices, such as one ormore devices for receiving and/or preprocessing of the sensor signals,such as one or more AD-converters and/or one or more filters. Further,the evaluation device may comprise one or more measurement devices, suchas one or more measurement devices for measuring electrical currentsand/or electrical voltages. Further, the evaluation device may compriseone or more data storage devices. Further, the evaluation device maycomprise one or more interfaces, such as one or more wireless interfacesand/or one or more wire-bound interfaces.

The at least one evaluation device may be adapted to perform at leastone computer program, such as at least one computer program adapted forperforming or supporting one or more or even all of the method steps ofthe method according to the present invention. As an example, one ormore algorithms may be implemented which, by using the sensor signals asinput variables, may determine the position of the object.

The evaluation device can be connected to or may comprise at least onefurther data processing device that may be used for one or more ofdisplaying, visualizing, analyzing, distributing, communicating orfurther processing of information, such as information obtained by theoptical sensor and/or by the evaluation device. The data processingdevice, as an example, may be connected or incorporate at least one of adisplay, a projector, a monitor, an LCD, a TFT, a loudspeaker, amultichannel sound system, an LED pattern, or a further visualizationdevice. It may further be connected or incorporate at least one of acommunication device or communication interface, a connector or a port,capable of sending encrypted or unencrypted information using one ormore of email, text messages, telephone, Bluetooth, Wi-Fi, infrared orinternet interfaces, ports or connections. It may further be connectedor incorporate at least one of a processor, a graphics processor, a CPU,an Open Multimedia Applications Platform (OMAP™), an integrated circuit,a system on a chip such as products from the Apple A series or theSamsung S3C2 series, a microcontroller or microprocessor, one or morememory blocks such as ROM, RAM, EEPROM, or flash memory, timing sourcessuch as oscillators or phase-locked loops, counter-timers, real-timetimers, or power-on reset generators, voltage regulators, powermanagement circuits, or DMA controllers. Individual units may further beconnected by buses such as AMBA buses or be integrated in an Internet ofThings or Industry 4.0 type network.

The evaluation device and/or the data processing device may be connectedby or have further external interfaces or ports such as one or more ofserial or parallel interfaces or ports, USB, Centronics Port, FireWire,HDMI, Ethernet, Bluetooth, RFID, Wi-Fi, USART, or SPI, or analogueinterfaces or ports such as one or more of ADCs or DACs, or standardizedinterfaces or ports to further devices such as a 2D-camera device usingan RGB-interface such as CameraLink. The evaluation device and/or thedata processing device may further be connected by one or more ofinterprocessor interfaces or ports, FPGA-FPGA-interfaces, or serial orparallel interfaces ports. The evaluation device and the data processingdevice may further be connected to one or more of an optical disc drive,a CD-RW drive, a DVD+RW drive, a flash drive, a memory card, a diskdrive, a hard disk drive, a solid state disk or a solid state hard disk.

The evaluation device and/or the data processing device may be connectedby or have one or more further external connectors such as one or moreof phone connectors, RCA connectors, VGA connectors, hermaphroditeconnectors, USB connectors, HDMI connectors, 8P8C connectors, BCNconnectors, IEC 60320 C14 connectors, optical fiber connectors,D-subminiature connectors, RF connectors, coaxial connectors, SCARTconnectors, XLR connectors, and/or may incorporate at least one suitablesocket for one or more of these connectors.

Possible embodiments of a single device incorporating one or more of thedetectors according to the present invention, the evaluation device orthe data processing device, such as incorporating one or more of theoptical sensor, optical systems, evaluation device, communicationdevice, data processing device, interfaces, system on a chip, displaydevices, or further electronic devices, are: mobile phones, personalcomputers, tablet PCs, televisions, game consoles or furtherentertainment devices. In a further embodiment, the 3D-camerafunctionality which will be outlined in further detail below may beintegrated in devices that are available with conventional 2D-digitalcameras, without a noticeable difference in the housing or appearance ofthe device, where the noticeable difference for the user may only be thefunctionality of obtaining and or processing 3D information. Further,devices according to the present invention may be used in 360° digitalcameras or surround view cameras.

Specifically, an embodiment incorporating the detector and/or a partthereof such as the evaluation device and/or the data processing devicemay be: a mobile phone incorporating a display device, a data processingdevice, the optical sensor, optionally the sensor optics, and theevaluation device, for the functionality of a 3D camera. The detectoraccording to the present invention specifically may be suitable forintegration in entertainment devices and/or communication devices suchas a mobile phone.

A further embodiment of the present invention may be an incorporation ofthe detector or a part thereof such as the evaluation device and/or thedata processing device in a device for use in automotive, for use inautonomous driving or for use in car safety systems such as Daimler'sIntelligent Drive system, wherein, as an example, a device incorporatingone or more of the optical sensors, optionally one or more opticalsystems, the evaluation device, optionally a communication device,optionally a data processing device, optionally one or more interfaces,optionally a system on a chip, optionally one or more display devices,or optionally further electronic devices may be part of a vehicle, acar, a truck, a train, a bicycle, an airplane, a ship, a motorcycle. Inautomotive applications, the integration of the device into theautomotive design may necessitate the integration of the optical sensor,optionally optics, or device at minimal visibility from the exterior orinterior. The detector or a part thereof such as the evaluation deviceand/or the data processing device may be especially suitable for suchintegration into automotive design.

As used herein, the term light generally refers to electromagneticradiation in one or more of the visible spectral range, the ultravioletspectral range and the infrared spectral range. Therein, the termvisible spectral range generally refers to a spectral range of 380 nm to780 nm. The term infrared spectral range generally refers toelectromagnetic radiation in the range of 780 nm to 1 mm, preferably inthe range of 780 nm to 3.0 micrometers. The term ultraviolet spectralrange generally refers to electromagnetic radiation in the range of 1 nmto 380 nm, preferably in the range of 100 nm to 380 nm. Preferably,light as used within the present invention is visible light, i.e. lightin the visible spectral range.

The term light beam generally may refer to an amount of light emittedand/or reflected into a specific direction. Thus, the light beam may bea bundle of the light rays having a predetermined extension in adirection perpendicular to a direction of propagation of the light beam.Preferably, the light beams may be or may comprise one or more Gaussianlight beams such as a linear combination of Gaussian light beams, whichmay be characterized by one or more Gaussian beam parameters, such asone or more of a beam waist, a Rayleigh-length or any other beamparameter or combination of beam parameters suited to characterize adevelopment of a beam diameter and/or a beam propagation in space.

The detector according to the present invention may further be combinedwith one or more other types of sensors or detectors. Thus, the detectormay further comprise at least one additional detector. The at least oneadditional detector may be adapted for detecting at least one parameter,such as at least one of: a parameter of a surrounding environment, suchas a temperature and/or a brightness of a surrounding environment; aparameter regarding a position and/or orientation of the detector; aparameter specifying a state of the object to be detected, such as aposition of the object, e.g. an absolute position of the object and/oran orientation of the object in space. Thus, generally, the principlesof the present invention may be combined with other measurementprinciples in order to gain additional information and/or in order toverify measurement results or reduce measurement errors or noise.

As outlined above, the human-machine interface may comprise a pluralityof beacon devices which are adapted to be at least one of directly orindirectly attached to the user and held by the user. Thus, the beacondevices each may independently be attached to the user by any suitablemeans, such as by an appropriate fixing device. Additionally oralternatively, the user may hold and/or carry the at least one beacondevice or one or more of the beacon devices in his or her hands and/orby wearing the at least one beacon device and/or a garment containingthe beacon device on a body part.

The beacon device generally may be an arbitrary device which may bedetected by the at least one detector and/or which facilitates detectionby the at least one detector. Thus, as outlined above or as will beoutlined in further detail below, the beacon device may be an activebeacon device adapted for generating the at least one light beam to bedetected by the detector, such as by having one or more illuminationsources for generating the at least one light beam. Additionally oralternatively, the beacon device may fully or partially be designed as apassive beacon device, such as by providing one or more reflectiveelements adapted to reflect a light beam generated by a separateillumination source. The at least one beacon device may permanently ortemporarily be attached to the user in a direct or indirect way and/ormay be carried or held by the user. The attachment may take place byusing one or more attachment means and/or by the user himself orherself, such as by the user holding the at least one beacon device byhand and/or by the user wearing the beacon device.

Additionally or alternatively, the beacon devices may be at least one ofattached to an object and integrated into an object held by the user,which, in the sense of the present invention, shall be included into themeaning of the option of the user holding the beacon devices. Thus, aswill be outlined in further detail below, the beacon devices may beattached to or integrated into a control element which may be part ofthe human-machine interface and which may be held or carried by theuser, and of which the orientation may be recognized by the detectordevice. Thus, generally, the present invention also refers to a detectorsystem comprising at least one detector device according to the presentinvention and which, further, may comprise at least one object, whereinthe beacon devices are one of attached to the object, held by the objectand integrated into the object. As an example, the object preferably mayform a control element, the orientation of which may be recognized by auser. Thus, the detector system may be part of the human-machineinterface as outlined above or as outlined in further detail below. Asan example, the user may handle the control element in a specific way inorder to transmit one or more items of information to a machine, such asin order to transmit one or more commands to the machine.

Alternatively, the detector system may be used in other ways. Thus, asan example, the object of the detector system may be different from auser or a body part of the user and, as an example, may be an objectwhich moves independently from the user. As an example, the detectorsystem may be used for controlling apparatuses and/or industrialprocesses, such as manufacturing processes and/or robotics processes.Thus, as an example, the object may be a machine and/or a machine part,such as a robot arm, the orientation of which may be detected by usingthe detector system.

The human-machine interface may be adapted in such a way that thedetector device generates at least one item of information on theposition of the user or of at least one body part of the user.Specifically in case a manner of attachment of the at least one beacondevice to the user is known, by evaluating the position of the at leastone beacon device, at least one item of information on a position and/oran orientation of the user or of a body part of the user may be gained.

The beacon device preferably is one of a beacon device attachable to abody or a body part of the user and a beacon device which may be held bythe user. As outlined above, the beacon device may fully or partially bedesigned as an active beacon device. Thus, the beacon device maycomprise at least one illumination source adapted to generate at leastone light beam to be transmitted to the detector, preferably at leastone light beam having known beam properties. Additionally oralternatively, the beacon device may comprise at least one reflectoradapted to reflect light generated by an illumination source, therebygenerating a reflected light beam to be transmitted to the detector.

The object, which may form part of the detector system, may generallyhave an arbitrary shape. Preferably, the object being part of thedetector system, as outlined above, may be a control element which maybe handled by a user, such as manually. As an example, the controlelement may be or may comprise at least one element selected from thegroup consisting of: a glove, a jacket, a hat, shoes, trousers and asuit, a stick that may be held by hand, a bat, a club, a racket, a cane,a toy, such as a toy gun. Thus, as an example, the detector system maybe part of the human-machine interface and/or of the entertainmentdevice.

As used herein, an entertainment device is a device which may serve thepurpose of leisure and/or entertainment of one or more users, in thefollowing also referred to as one or more players. As an example, theentertainment device may serve the purpose of gaming, preferablycomputer gaming. Thus, the entertainment device may be implemented intoa computer, a computer network or a computer system or may comprise acomputer, a computer network or a computer system which runs one or moregaming software programs.

The entertainment device comprises at least one human-machine interfaceaccording to the present invention, such as according to one or more ofthe embodiments disclosed above and/or according to one or more of theembodiments disclosed below. The entertainment device is designed toenable at least one item of information to be input by a player by meansof the human-machine interface. The at least one item of information maybe transmitted to and/or may be used by a controller and/or a computerof the entertainment device. The at least one item of informationpreferably may comprise at least one command adapted for influencing thecourse of a game. Thus, as an example, the at least one item ofinformation may include at least one item of information on at least oneorientation of the player and/or of one or more body parts of theplayer, thereby allowing for the player to simulate a specific positionand/or orientation and/or action required for gaming. As an example, oneor more of the following movements may be simulated and communicated toa controller and/or a computer of the entertainment device: dancing;running; jumping; swinging of a racket; swinging of a bat; swinging of aclub; pointing of an object towards another object, such as pointing ofa toy gun towards a target.

The entertainment device as a part or as a whole, preferably acontroller and/or a computer of the entertainment device, is designed tovary the entertainment function in accordance with the information.Thus, as outlined above, a course of a game might be influenced inaccordance with the at least one item of information. Thus, theentertainment device might include one or more controllers which mightbe separate from the evaluation device of the at least one detectorand/or which might be fully or partially identical to the at least oneevaluation device or which might even include the at least oneevaluation device. Preferably, the at least one controller might includeone or more data processing devices, such as one or more computersand/or microcontrollers.

As further used herein, a tracking system is a device which is adaptedto gather information on a series of past positions of the at least oneobject and/or at least one part of the object. Additionally, thetracking system may be adapted to provide information on at least onepredicted future position and/or orientation of the at least one objector the at least one part of the object. The tracking system may have atleast one track controller, which may fully or partially be embodied asan electronic device, preferably as at least one data processing device,more preferably as at least one computer or microcontroller. Again, theat least one track controller may fully or partially comprise the atleast one evaluation device and/or may be part of the at least oneevaluation device and/or may fully or partially be identical to the atleast one evaluation device.

The tracking system comprises at least one detector according to thepresent invention, such as at least one detector as disclosed in one ormore of the embodiments listed above and/or as disclosed in one or moreof the embodiments below. The tracking system further comprises at leastone track controller. The track controller is adapted to track a seriesof positions of the object at specific points in time, such as byrecording groups of data or data pairs, each group of data or data paircomprising at least one position information and at least one timeinformation.

The tracking system may further comprise the at least one detectorsystem according to the present invention. Thus, besides the at leastone detector and the at least one evaluation device and the optional atleast one beacon device, the tracking system may further comprise theobject itself or a part of the object, such as at least one controlelement comprising the beacon devices or at least one beacon device,wherein the control element is directly or indirectly attachable to orintegratable into the object to be tracked.

The tracking system may be adapted to initiate one or more actions ofthe tracking system itself and/or of one or more separate devices. Forthe latter purpose, the tracking system, preferably the trackcontroller, may have one or more wireless and/or wire-bound interfacesand/or other types of control connections for initiating at least oneaction. Preferably, the at least one track controller may be adapted toinitiate at least one action in accordance with at least one actualposition of the object. As an example, the action may be selected fromthe group consisting of: a prediction of a future position of theobject; pointing at least one device towards the object; pointing atleast one device towards the detector; illuminating the object;illuminating the detector.

As an example of application of a tracking system, the tracking systemmay be used for continuously pointing at least one first object to atleast one second object even though the first object and/or the secondobject might move. Potential examples, again, may be found in industrialapplications, such as in robotics and/or for continuously working on anarticle even though the article is moving, such as during manufacturingin a manufacturing line or assembly line. Additionally or alternatively,the tracking system might be used for illumination purposes, such as forcontinuously illuminating the object by continuously pointing anillumination source to the object even though the object might bemoving. Further applications might be found in communication systems,such as in order to continuously transmit information to a moving objectby pointing a transmitter towards the moving object.

The detector according to the present invention may be realized as asimple device combining the functionality of distance measurement ormeasurement of z-coordinates, with the additional option of measuringone or more transversal coordinates, thereby integrating thefunctionality of a PSD.

When mentioning a range of measurement, the range of measurement mayboth refer to a range of brightness which may be used with the detectoraccording to the present invention, such as a range of total powers ofthe light beam, or may refer to a range of distances between thedetector and the object which may be measured. Conventional detectors,such as according to one or more of the documents listed above, aretypically limited in both ranges of measurement. The use of the quotientsignal, as mentioned above, contrarily, provides a wide range of acontinuously and monotonously decreasing or increasing functions whichmay be used to determine the longitudinal coordinate from the quotientsignal. Consequently, a very wide range of measurement in terms ofdistance between the object and the detector is given. Similarly, due tothe general independence of the quotient signal from the total power ofthe light beam, at least as long as no saturation of one or both of theoptical sensors is reached, also provides a very wide range ofmeasurement in terms of brightness, i.e. in terms of total power of thelight beam.

The light beam, within the detector, generally may propagate along anoptical axis of the detector. The first and second optical sensors maybe placed on the optical axis. The light beam, however, may alsopropagate in other ways than along the optical axis. As an example, anillumination light beam may be generated which propagates along theoptical axis or which propagates parallel to the optical axis or at anangle to the optical axis which is different from 0°, such as an angleof 1° to 20°. Other embodiments are feasible.

Overall, in the context of the present invention, the followingembodiments are regarded as preferred:

Embodiment 1

A detector for determining a position of at least one object, thedetector comprising:

-   -   at least one transfer device, wherein the transfer device has at        least one focal length in response to at least one incident        light beam propagating from the object to the detector;    -   at least two optical sensors, wherein each optical sensor has at        least one light sensitive area, wherein each optical sensor is        designed to generate at least one sensor signal in response to        an illumination of its respective light-sensitive area by the        light beam,    -   at least one evaluation device being configured for determining        at least one longitudinal coordinate z of the object by        evaluating a quotient signal Q from the sensor signals.

Embodiment 2

The detector according to the preceding embodiment, wherein the detectoris adapted to determine the longitudinal coordinate z of the object inat least one measurement range independent from the object size in anobject plane.

Embodiment 3

The detector according to any one of the preceding embodiments, whereinthe measurement range is adjustable by adjusting on one or moreparameters selected from the group consisting of: a longitudinaldistance from the object to the transfer device z₀; the focal length ofthe transfer device f; a diameter of an exit pupil of the transferdevice E_(x); a longitudinal distance from the transfer device to thelight sensitive area z_(s), a distance from the transfer device to animage of the object z_(i); an object size O_(size) of the object in theobject plane.

Embodiment 4

The detector according to the preceding embodiment, wherein the detectoris adapted to determine the longitudinal coordinate z of the objectindependent from the object size if a circle of confusion of at leastone light beam emitted from at least one point of the object is greaterthan an image size of the object.

Embodiment 5

The detector according to the preceding embodiment, wherein the detectoris adapted to determine the longitudinal coordinate z of the objectindependent from the object size if

$O_{size} < {\frac{z_{0}E_{x}}{z_{i}^{2}}{{z_{s} - z_{i}}}}$holds true for at least one distance.

Embodiment 6

The detector according to the preceding embodiment, wherein theevaluation device is configured for deriving the quotient signal Q byone or more of dividing the sensor signals, dividing multiples of thesensor signals, dividing linear combinations of the sensor signals.

Embodiment 7

The detector according to the preceding embodiment, wherein theevaluation device is configured for using at least one predeterminedrelationship between the quotient signal Q and the longitudinalcoordinate for determining the longitudinal coordinate.

Embodiment 8

The detector according to any one of the preceding embodiments, whereinthe evaluation device is configured for deriving the quotient signal Qby

${Q\left( z_{O} \right)} = \frac{\underset{A_{1}}{\int\int}{E\left( {x,{y;z_{O}}} \right)}{dxdy}}{\underset{A_{2}}{\int\int}{E\left( {x,{y;z_{O}}} \right)}{dxdy}}$wherein x and y are transversal coordinates, A1 and A2 are areas of thebeam profile at the sensor position, and E(x,y,z_(o)) denotes the beamprofile given at the object distance z_(o).

Embodiment 9

The detector according to any one of the preceding embodiments, whereinthe optical sensors are positioned off focus.

Embodiment 10

The detector according to any one of the preceding embodiments, whereinthe transfer device has an optical axis, wherein the transfer deviceconstitutes a coordinate system, wherein a longitudinal coordinate I isa coordinate along the optical axis and wherein d is a spatial offsetfrom the optical axis, wherein the optical sensors are arranged suchthat the light-sensitive areas of the optical sensors differ in at leastone of: their longitudinal coordinate, their spatial offset, or theirsurface areas.

Embodiment 11

The detector according to any one of the preceding embodiments, whereinthe light beam may be a monochromatic light beam.

Embodiment 12

The detector according to any one of the preceding embodiments, whereineach of the sensor signals comprises at least one information of atleast one area of the beam profile of at least one beam profile of thelight beam.

Embodiment 13

The detector according to the preceding embodiment, wherein the beamprofile is selected from the group consisting of a trapezoid beamprofile; a triangle beam profile; a conical beam profile and a linearcombination of Gaussian beam profiles.

Embodiment 14

The detector according to any one of the two preceding embodiments,wherein the light-sensitive regions are arranged such that a firstsensor signal comprises information of a first area of the beam profilesand a second sensor signal comprises information of a second area of thebeam profile, wherein the first area of the beam profile and the secondarea of the beam profile are one or both of adjacent or overlappingregions.

Embodiment 15

The detector according to the preceding embodiment, wherein theevaluation device is configured to determine the first area of the beamprofile and the second area of the beam profile.

Embodiment 16

The detector according to any one of the four preceding embodiments,wherein the first area of the beam profile comprises essentially edgeinformation of the beam profile and the second area of the beam profilecomprises essentially center information of the beam profile.

Embodiment 17

The detector according to any one of the preceding embodiments, whereinthe edge information comprises an information relating to a number ofphotons in the first area of the beam profile and the center informationcomprises an information relating to a number of photons in the secondarea of the beam profile.

Embodiment 18

The detector according to any one of the two the preceding embodiments,wherein the evaluation device is configured to derive the quotientsignal Q by one or more of dividing the edge information and the centerinformation, dividing multiples of the edge information and the centerinformation, dividing linear combinations of the edge information andthe center information.

Embodiment 19

The detector according to any one of the three preceding embodiments,wherein the light beam propagating from the object to the detectorilluminates the optical sensors with at least one line pattern, whereinA1 corresponds to an area with a full line width of the line pattern onthe optical sensors, wherein A2 is a central area of the line pattern onthe optical sensors.

Embodiment 20

The detector according to any one of the four preceding embodiments,wherein the light beam propagating from the object to the detectorilluminates the optical sensor with at least one point pattern, whereinA1 corresponds to an area with a full radius of a point of the pointpattern on the optical sensors, wherein A2 is a central area of thepoint in the point pattern on the optical sensors.

Embodiment 21

The detector according to any one of the preceding embodiments, whereinthe optical sensors comprise a first optical sensor having a first lightsensitive area and a second optical sensor having a second lightsensitive area, wherein the first and the second light sensitive areasare arranged such that a condition

$\frac{a}{c} \neq \frac{b}{d}$is satisfied, wherein “a” is a ratio of photons hitting both an innerregion of a plane perpendicular to the optical axis intersecting theoptical axis at a distance equal to half of a focal length of thetransfer device and the first light sensitive area, “b” is a ratio ofphotons hitting both the inner region of the plane and the second lightsensitive area, “c” is a ratio of photons hitting both an outer regionof the plane and the first light-sensitive area, “d” is a ratio of thephotons hitting both the outer region of the plane and the second lightsensitive area.

Embodiment 22

The detector according to the preceding embodiment, wherein the firstlight sensitive area and the second light sensitive area are arrangedsuch that the inner region has an area with a geometrical center pointon the optical axis and an extension such that half of the photons hitthe plane within the inner region and the other half hit the planeoutside the inner region.

Embodiment 23

The detector according to the preceding embodiment, wherein the firstlight sensitive area and the second light sensitive area are arrangedsuch that the inner region is designed as a circle with a center pointon the optical axis and a radius r which is chosen such that half of thephotons hit the plane within the circle and the other half hit the planeoutside the circle.

Embodiment 24

A detector for determining a position of at least one object, thedetector having

-   -   at least one first optical sensor having a first light-sensitive        area, wherein the first optical sensor is configured to generate        at least one first sensor signal in response to an illumination        of the first light-sensitive area by a light beam propagating        from the object to the detector;    -   at least one second optical sensor having a second        light-sensitive area, wherein the second optical sensor is        configured to generate at least one second sensor signal in        response to an illumination of the second light-sensitive area        by the light beam, wherein the first light-sensitive area is        smaller than the second light-sensitive area; and    -   at least one evaluation device being configured for determining        at least one longitudinal coordinate z of the object by        evaluating the first and second sensor signals.

Embodiment 25

The detector according to the preceding embodiment, wherein theevaluation device is configured for deriving a quotient signal Q bydividing the first and second sensor signals, by dividing multiples ofthe first and second sensor signals or by dividing linear combinationsof the first and second sensor signals, wherein the evaluation device isconfigured for determining the longitudinal coordinate by evaluating thequotient signal Q.

Embodiment 26

The detector according to the preceding embodiment, wherein theevaluation device is configured for using at least one predeterminedrelationship between the quotient signal Q and the longitudinalcoordinate.

Embodiment 27

The detector according to the preceding embodiment, wherein thepredetermined relationship is one or more of an empiric relationship, asemi-empiric relationship and an analytically derived relationship.

Embodiment 28

The detector according to any one of the two preceding embodiments,wherein the evaluation device comprises at least one data storage devicefor storing the predetermined relationship.

Embodiment 29

The detector according to any one of the four preceding embodiments,wherein the evaluation device comprises at least one divider, whereinthe divider is configured for deriving the quotient signal.

Embodiment 30

The detector according to the preceding embodiment, wherein the divideris fully or partially embodied as one or both of a software divider or ahardware divider.

Embodiment 31

The detector according to any one of the seven preceding embodiments,wherein the first and second optical sensors are arranged linearly inone and the same beam path of the detector.

Embodiment 32

The detector according to the preceding embodiment, wherein the firstand second optical sensors are arranged concentrically with respect toan optical axis of the detector.

Embodiment 33

The detector according to any one of the eight preceding embodiments,wherein the first optical sensor is arranged in front of the secondoptical sensor and is spaced apart from the second optical sensor by nomore than five times the square root of a surface area of the firstlight-sensitive area.

Embodiment 34

The detector according to any one of the nine preceding embodiments,wherein the first optical sensor is arranged in front of the secondoptical sensor and is spaced apart from the second optical sensor by nomore than 50 mm, preferably by no more than 15 mm.

Embodiment 35

The detector according to any one of the ten preceding embodiments,wherein the second light-sensitive area is larger by at least a factorof two, more preferably by at least a factor of three and mostpreferably by at least a factor of five as compared to the firstlight-sensitive area.

Embodiment 36

The detector according to any one of the eleven preceding embodiments,wherein the first light-sensitive area has a surface area of 1 mm² to150 mm², more preferably a surface area of 10 mm² to 100 mm².

Embodiment 37

The detector according to any one of the twelve preceding embodiments,specifically according to the preceding embodiment, wherein the secondlight-sensitive area has a surface area of 160 mm² to 1000 mm², morepreferably a surface area of 200 mm² to 600 mm².

Embodiment 38

The detector according to any one of the thirteen preceding embodiments,wherein the first and second optical sensor each have, at least within arange of measurement, a linear signal characteristic such that therespective first and second sensor signals are dependent on the totalpower of illumination of the respective optical sensor and areindependent from a diameter of a light spot of the illumination.

Embodiment 39

The detector according to any one of the fourteen preceding embodiments,wherein the first and second optical sensors each are semiconductorsensors, preferably inorganic semiconductor sensors, more preferablyphotodiodes and most preferably silicon photodiodes.

Embodiment 40

The detector according to any one of the fifteen preceding embodiments,wherein the first and second optical sensors each are uniform sensorshaving a single light-sensitive area each.

Embodiment 41

The detector according to any one of the sixteen preceding embodiments,wherein the detector further comprises an illumination source forilluminating the object.

Embodiment 42

The detector according to the preceding embodiment, wherein theillumination source is configured for generating an illuminating lightbeam for illuminating the object, wherein the detector is configuredsuch that the illuminating light beam propagates from the detectortowards the object along an optical axis of the detector.

Embodiment 43

The detector according to the preceding embodiment, wherein the detectorcomprises at least one reflective element, preferably at least oneprism, for deflecting the illuminating light beam onto the optical axis.

Embodiment 44

The detector according to any one of the three preceding embodiments,wherein the illumination source is adapted to generate at least oneillumination pattern for illumination of the object, wherein theillumination pattern comprises at least one pattern selected from thegroup consisting of: at least one point pattern, in particular apseudo-random point pattern or a random point pattern; at least oneSobol pattern; at least one quasiperiodic pattern; at least one patterncomprising at least one pre-known feature; at least one regular pattern;at least one triangular pattern; at least one hexagonal pattern, inparticular a rotated hexagonal pattern and/or a displaced hexagonalpattern; at least one rectangular pattern at least one patterncomprising convex uniform tilings; at least one fringe pattern; at leastone line pattern comprising at least one line; at least one line patterncomprising at least two lines such as parallel or crossing lines.

Embodiment 45

The detector according to the preceding embodiment, wherein the opticalsensors are adapted to determine at least one reflection pattern,wherein the evaluation device is adapted to select at least one featureof the reflection pattern and to determine the longitudinal coordinate zof the selected feature of the reflection pattern by evaluating thequotient signal Q.

Embodiment 46

The detector according to any one of the twenty-one precedingembodiments, wherein the detector further comprises at least onetransfer device, the transfer device being adapted to guide the lightbeam onto the optical sensors.

Embodiment 47

The detector according to the preceding embodiment, wherein the transferdevice comprises one or more of: at least one lens, for example at leastone lens selected from the group consisting of at least onefocus-tunable lens, at least one aspheric lens, at least one sphericlens, at least one Fresnel lens; at least one diffractive opticalelement; at least one concave mirror; at least one beam deflectionelement, preferably at least one mirror; at least one beam splittingelement, preferably at least one of a beam splitting cube or a beamsplitting mirror; at least one multi-lens system.

Embodiment 48

The detector according to any one of the twenty-three precedingembodiments, wherein the first light-sensitive area, in a direction ofpropagation of the light beam, overlaps with the second light-sensitivearea.

Embodiment 49

A detector for determining a position of at least one object, thedetector having

-   -   at least one sensor element having a matrix of optical sensors,        the optical sensors each having a light-sensitive area, wherein        each optical sensor is configured to generate at least one        sensor signal in response to an illumination of the        light-sensitive area by at least one light beam propagating from        the object to the detector;    -   at least one evaluation device configured for evaluating the        sensor signals, by        a) determining at least one optical sensor having the highest        sensor signal and forming at least one center signal;        b) evaluating the sensor signals of the optical sensors of the        matrix and forming at least one sum signal;        c) determining at least one combined signal by combining the        center signal and the sum signal; and        d) determining at least one longitudinal coordinate z of the        object by evaluating the combined signal.

Embodiment 50

The detector according to the preceding embodiment, wherein the centersignal is selected from the group consisting of: the highest sensorsignal; an average of a group of sensor signals being within apredetermined range of tolerance from the highest sensor signal; anaverage of sensor signals from a group of optical sensors containing theoptical sensor having the highest sensor signal and a predeterminedgroup of neighboring optical sensors; a sum of sensor signals from agroup of optical sensors containing the optical sensor having thehighest sensor signal and a predetermined group of neighboring opticalsensors; a sum of a group of sensor signals being within a predeterminedrange of tolerance from the highest sensor signal; an average of a groupof sensor signals being above a predetermined threshold; a sum of agroup of sensor signals being above a predetermined threshold; anintegral of sensor signals from a group of optical sensors containingthe optical sensor having the highest sensor signal and a predeterminedgroup of neighboring optical sensors; an integral of a group of sensorsignals being within a predetermined range of tolerance from the highestsensor signal; an integral of a group of sensor signals being above apredetermined threshold.

Embodiment 51

The detector according to any one of the two preceding embodiments,wherein the detector, specifically the evaluation device, is configuredfor transforming the sensor signals of the optical sensor, therebygenerating secondary optical sensor signals, wherein the evaluationdevice is configured for performing steps a)-d) by using the secondaryoptical sensor signals.

Embodiment 52

The detector according to the preceding embodiment, wherein thetransforming of the sensor signals comprises at least one transformationselected from the group consisting of: a filtering; a selection of atleast one region of interest; a formation of a difference image betweenan image created by the sensor signals and at least one offset; aninversion of sensor signals by inverting an image created by the sensorsignals; a formation of a difference image between an image created bythe sensor signals at different times; a background correction; adecomposition into color channels; a decomposition into hue, saturation,and brightness channels, a frequency decomposition; a singular valuedecomposition; applying a Canny edge detector; applying a Laplacian ofGaussian filter; applying a Difference of Gaussian filter; applying aSobel operator; applying a Laplace operator; applying a Scharr operator;applying a Prewitt operator; applying a Roberts operator; applying aKirsch operator; applying a high-pass filter; applying a low-passfilter; applying a Fourier transformation; applying aRadon-transformation; applying a Hough-transformation; applying awavelet-transformation; a thresholding; creating a binary image.

Embodiment 53

The detector according to any one of the four preceding embodiments,wherein the evaluation device comprises at least one center detector fordetecting the at least one highest sensor signal and/or for forming thecenter signal.

Embodiment 54

The detector according to the preceding embodiment, wherein the centerdetector is fully or partially integrated into the sensor element.

Embodiment 55

The detector according to any one of the two preceding embodiments,wherein the center detector is fully or partially embodied in one orboth of software or hardware.

Embodiment 56

The detector according to any one of the seven preceding embodiments,wherein the sum signal is selected from the group consisting of: anaverage over all sensor signals of the matrix; a sum of all sensorsignals of the matrix; an integral of all sensor signals of the matrix;an average over all sensor signals of the matrix except for sensorsignals from those optical sensors contributing to the center signal; asum of all sensor signals of the matrix except for sensor signals fromthose optical sensors contributing to the center signal; an integral ofall sensor signals of the matrix except for sensor signals from thoseoptical sensors contributing to the center signal; a sum of sensorsignals of optical sensors within a predetermined range from the opticalsensor having the highest sensor signal; an integral of sensor signalsof optical sensors within a predetermined range from the optical sensorhaving the highest sensor signal; a sum of sensor signals above acertain threshold of optical sensors being located within apredetermined range from the optical sensor having the highest sensorsignal; an integral of sensor signals above a certain threshold ofoptical sensors being located within a predetermined range from theoptical sensor having the highest sensor signal.

Embodiment 57

The detector according to the preceding embodiment, wherein theevaluation device comprises at least one summing device for forming thesum signal.

Embodiment 58

The detector according to the preceding embodiment, wherein the summingdevice is fully or partially integrated into the sensor element.

Embodiment 59

The detector according to any one of the two preceding embodiments,wherein the summing device is fully or partially embodied in one or bothof software or hardware.

Embodiment 60

The detector according to any one of the eleven preceding embodiments,wherein the combined signal is a quotient signal Q, derived by one ormore of: forming a quotient of the center signal and the sum signal orvice versa; forming a quotient of a multiple of the center signal and amultiple of the sum signal or vice versa; forming a quotient of a linearcombination of the center signal and a linear combination of the sumsignal or vice versa; forming a quotient of a first linear combinationof the center signal and the sum signal and a second linear combinationof the center signal and the sum signal.

Embodiment 61

The detector according to the preceding embodiment, wherein theevaluation device is configured for using at least one predeterminedrelationship between the quotient signal Q and the longitudinalcoordinate for determining the longitudinal coordinate.

Embodiment 62

The detector according to the preceding embodiment, wherein thepredetermined relationship is one or more of an empiric relationship, asemi-empiric relationship and an analytically derived relationship.

Embodiment 63

The detector according to any one of the two preceding embodiments,wherein the evaluation device comprises at least one data storage devicefor storing the predetermined relationship.

Embodiment 64

The detector according to any one of the four preceding embodiments,wherein the evaluation device comprises at least one divider, whereinthe divider is configured for deriving the quotient signal.

Embodiment 65

The detector according to the preceding embodiment, wherein the divideris fully or partially embodied as one or both of a software divider or ahardware divider.

Embodiment 66

The detector according to any one of the two preceding embodiments,wherein the divider is fully or partially integrated into the sensorelement.

Embodiment 67

The detector according to any one of the eighteen preceding embodiments,wherein the optical sensors are photodetectors, preferably inorganicphotodetectors, more preferably inorganic semiconductor photodetectors,most preferably silicon photodetectors.

Embodiment 68

The detector according to any one of the nineteen preceding embodiments,wherein the optical sensors are sensitive in the infrared spectralrange.

Embodiment 69

The detector according to any one of the twenty preceding embodiments,wherein the matrix comprises one or both of a CCD detector, preferably aCCD detector chip, or a CMOS detector, preferably a CMOS detector chip.

Embodiment 70

The detector according to any one of the twenty-one precedingembodiments, wherein the matrix is a rectangular matrix having at leastone row, preferably a plurality of rows, and a plurality of columns.

Embodiment 71

The detector according to the preceding embodiment, wherein the rows andcolumns are oriented essentially perpendicular.

Embodiment 72

The detector according to any one of the two preceding embodiments,wherein the matrix has at least 10 rows, preferably at least 50 rows,more preferably at least 100 rows.

Embodiment 73

The detector according to any one of the three preceding embodiments,wherein the matrix has at least 10 columns, preferably at least 50columns, more preferably at least 100 columns.

Embodiment 74

The detector according to any one of the four preceding embodiments,wherein the ratio of the number of rows and the number of columns isclose to 1 preferable larger than 1:3, more preferably larger than 1:2.

Embodiment 75

The detector according to any one of the twenty-six precedingembodiments, wherein the matrix comprises at least 50 optical sensors,preferably at least 100 optical sensors, more preferably at least 500optical sensors.

Embodiment 76

The detector according to any one of the twenty-seven precedingembodiments, wherein the sensor element is oriented essentiallyperpendicular to an optical axis of the detector.

Embodiment 77

The detector according to any one of the twenty-eight precedingembodiments, wherein the optical sensors each have, at least within arange of measurement, a linear signal characteristic such that therespective sensor signals are dependent on the total power ofillumination of the respective optical sensor.

Embodiment 78

The detector according to any one of the twenty-nine precedingembodiments, wherein the detector further comprises an illuminationsource for illuminating the object.

Embodiment 79

The detector according to the preceding embodiment, wherein theillumination source is configured for generating an illuminating lightbeam for illuminating the object, wherein the detector is configuredsuch that the illuminating light beam propagates from the detectortowards the object along an optical axis of the detector.

Embodiment 80

The detector according to the preceding embodiment, wherein the detectorcomprises at least one reflective element, preferably at least oneprism, for deflecting the illuminating light beam onto the optical axis.

Embodiment 81

The detector according to any one of the three preceding embodiments,wherein the illumination source is adapted to generate at least oneillumination pattern for illumination of the object, wherein theillumination pattern comprises at least one pattern selected from thegroup consisting of: at least one point pattern, in particular apseudo-random point pattern or a random point pattern; at least oneSobol pattern; at least one quasiperiodic pattern; at least one patterncomprising at least one pre-known feature; at least one regular pattern;at least one triangular pattern; at least one hexagonal pattern, inparticular a rotated hexagonal pattern and/or a displaced hexagonalpattern; at least one rectangular pattern at least one patterncomprising convex uniform tilings; at least one fringe pattern; at leastone line pattern comprising at least one line; at least one line patterncomprising at least two lines such as parallel or crossing lines.

Embodiment 82

The detector according to the preceding embodiment, wherein the opticalsensors are adapted to determine at least one reflection pattern,wherein the evaluation device is adapted to select at least one featureof the reflection pattern and to determine the longitudinal coordinate zof the selected feature of the reflection pattern by evaluating thequotient signal Q.

Embodiment 83

The detector according to any one of the thirty-four precedingembodiments, wherein the detector further comprises at least onetransfer device, the transfer device being adapted to guide the lightbeam onto the optical sensors.

Embodiment 84

The detector according to the preceding embodiment, wherein the transferdevice comprises one or more of: at least one lens, for example at leastone lens selected from the group consisting of at least onefocus-tunable lens, at least one aspheric lens, at least one sphericlens, at least one Fresnel lens; at least one diffractive opticalelement; at least one concave mirror; at least one beam deflectionelement, preferably at least one mirror; at least one beam splittingelement, preferably at least one of a beam splitting cube or a beamsplitting mirror; at least one multi-lens system.

Embodiment 85

The detector according to any one of the thirty-six precedingembodiments, wherein the evaluation device is further configured fordetermining at least one transversal coordinate of the object byevaluating a transversal position of the at least one optical sensorhaving the highest sensor signal.

Embodiment 86

The detector according to any one of the thirty-eight precedingembodiments, wherein the evaluation device is configured fordistinguishing different light beams having different modulations.

Embodiment 87

A detector for determining a position of at least one object, thedetector having

-   -   at least two optical sensors, each optical sensor having a        light-sensitive area, wherein each light-sensitive area has a        geometrical center, wherein the geometrical centers of the        optical sensors are spaced apart from an optical axis of the        detector by different spatial offsets, wherein each optical        sensor is configured to generate a sensor signal in response to        an illumination of its respective light-sensitive area by a        light beam propagating from the object to the detector; and    -   at least one evaluation device being configured for determining        at least one longitudinal coordinate z of the object by        combining the at least two sensor signals.

Embodiment 88

The detector according to the preceding embodiment, wherein the opticalsensors are located in the same plane.

Embodiment 89

The detector according to any one of the two preceding embodiments,wherein the optical sensors are partial diodes of a segmented diode,with a center of the segmented diode being off-centered from the opticalaxis of the detector.

Embodiment 90

The detector according to any one of the three preceding embodiments,wherein the optical sensors are part of a sensor array, such as an arraycomprising 2-4 optical sensors such as a quadrant photodiode.

Embodiment 91

The detector according to the preceding embodiment, wherein ageometrical center of the sensor array is offset from the optical axis.

Embodiment 92

The detector according to any one of the two preceding embodiments,wherein the sensor array is movable, preferably automatically, relativeto the optical axis.

Embodiment 93

The detector according to the preceding embodiment, wherein theevaluation device is configured for, firstly, determining the at leastone transversal position of a light spot generated by the light beam onthe sensor array by using the sensor signals and for, secondly, movingthe sensor array relative to the optical axis until the light spot isoff-centered.

Embodiment 94

The detector according to any one of the seven preceding embodiments,wherein the optical sensors are partial diodes of a quadrant diode, witha geometrical center of the quadrant diode being off-centered from theoptical axis of the detector.

Embodiment 95

The detector according to any one of the eight preceding embodiments,wherein the light-sensitive areas of the optical sensors are equal.

Embodiment 96

The detector according to any one of the nine preceding embodiments,wherein the detector comprises at least one lens, wherein the opticalaxis of the detector is an axis of symmetry of the lens.

Embodiment 97

The detector according to any one of the ten preceding embodiments,wherein the evaluation device is configured for deriving a quotientsignal Q by one or more of dividing the sensor signals, dividingmultiples of the sensor signals or dividing linear combinations of thesensor signals, and wherein the evaluation device is further configuredfor determining the longitudinal coordinate by evaluating the quotientsignal Q.

Embodiment 98

The detector according to the preceding embodiment, wherein theevaluation device is configured for using at least one predeterminedrelationship between the quotient signal Q and the longitudinalcoordinate.

Embodiment 99

The detector according to the preceding embodiment, wherein thepredetermined relationship is one or more of an empiric relationship, asemi-empiric relationship and an analytically derived relationship.

Embodiment 100

The detector according to any one of the two preceding embodiments,wherein the evaluation device comprises at least one data storage devicefor storing the predetermined relationship.

Embodiment 101

The detector according to any one of the four preceding embodiments,wherein the evaluation device comprises at least one divider, whereinthe divider is configured for deriving the quotient signal.

Embodiment 102

The detector according to the preceding embodiment, wherein the divideris fully or partially embodied as one or both of a software divider or ahardware divider.

Embodiment 103

The detector according to any one of the sixteen preceding embodiments,wherein the optical sensors are arranged in one and the same beam pathof the detector.

Embodiment 104

The detector according to any one of the seventeen precedingembodiments, wherein the optical sensors each are semiconductor sensors,preferably inorganic semiconductor sensors, more preferably photodiodesand most preferably silicon photodiodes.

Embodiment 105

The detector according to any one of the eighteen preceding embodiments,wherein the optical sensors each are uniform sensors having a singlelight-sensitive area each.

Embodiment 106

The detector according to any one of the nineteen preceding embodiments,wherein the optical sensors each have, at least within a range ofmeasurement, a linear signal characteristic such that the sensor signalsare dependent on the total power of illumination of the respectiveoptical sensor and are independent from a diameter of a light spot ofthe illumination.

Embodiment 107

The detector according to any one of the twenty preceding embodiments,wherein the detector further comprises an illumination source forilluminating the object, e.g, an illumination source comprising at leastone laser, such as an illumination source providing at least oneilluminating light beam being on the optical axis or being not on theoptical axis.

Embodiment 108

The detector according to the preceding embodiment, wherein theillumination source is configured for generating an illuminating lightbeam for illuminating the object, wherein the detector is configuredsuch that the illuminating light beam propagates from the detectortowards the object along an optical axis of the detector.

Embodiment 109

The detector according to the preceding embodiment, wherein the detectorcomprises at least one reflective element, preferably at least oneprism, for deflecting the illuminating light beam onto the optical axis.

Embodiment 110

The detector according to any one of the three preceding embodiments,wherein the illumination source is adapted to generate at least oneillumination pattern for illumination of the object, wherein theillumination pattern comprises at least one pattern selected from thegroup consisting of: at least one point pattern, in particular apseudo-random point pattern or a random point pattern; at least oneSobol pattern; at least one quasiperiodic pattern; at least one patterncomprising at least one pre-known feature; at least one regular pattern;at least one triangular pattern; at least one hexagonal pattern, inparticular a rotated hexagonal pattern and/or a displaced hexagonalpattern; at least one rectangular pattern at least one patterncomprising convex uniform tilings; at least one fringe pattern; at leastone line pattern comprising at least one line; at least one line patterncomprising at least two lines such as parallel or crossing lines.

Embodiment 111

The detector according to the preceding embodiment, wherein the opticalsensors are adapted to determine at least one reflection pattern,wherein the evaluation device is adapted to select at least one featureof the reflection pattern and to determine the longitudinal coordinate zof the selected feature of the reflection pattern by evaluating thequotient signal Q.

Embodiment 112

The detector according to any one of the twenty-five precedingembodiments, wherein the detector further comprises at least onetransfer device, the transfer device being adapted to guide the lightbeam onto the optical sensors.

Embodiment 113

The detector according to the preceding embodiment, wherein the transferdevice comprises one or more of: at least one lens, for example, atleast one lens selected from the group consisting of at least onefocus-tunable lens, at least one aspheric lens, at least one sphericlens, at least one Fresnel lens; at least one diffractive opticalelement; at least one concave mirror; at least one beam deflectionelement, preferably at least one mirror; at least one diffractiveoptical element; at least one Fresnel lens; at least one beam splittingelement, preferably at least one of a beam splitting cube or a beamsplitting mirror; at least one multi-lens system.

Embodiment 114

A detector for determining a position of at least one object, thedetector having

-   -   at least one first optical sensor having a first light-sensitive        area, wherein the first optical sensor is configured to generate        at least one first sensor signal in response to an illumination        of the first light-sensitive area by a light beam propagating        from the object to the detector;    -   at least one second optical sensor having:        -   at least one fluorescent waveguiding sheet forming a second            light-sensitive area, wherein the fluorescent waveguiding            sheet is oriented towards the object such that at least one            light beam propagating from the object towards the detector            generates at least one light spot in the second            light-sensitive area, wherein the fluorescent waveguiding            sheet contains at least one fluorescent material, wherein            the fluorescent material is adapted to generate fluorescence            light in response to the illumination by the light beam; and        -   at least one photosensitive element located at at least one            edge of the fluorescent waveguiding sheet, capable of            detecting fluorescence light guided from the light spot            towards the photosensitive element by the fluorescent            waveguiding sheet and capable of generating at least one            second sensor signal in response to the illumination of the            second light-sensitive area by the light beam, wherein the            first light-sensitive area is smaller than the second            light-sensitive area; and    -   at least one evaluation device being configured for determining        at least one longitudinal coordinate z of the object by        evaluating the first and second sensor signals.

Embodiment 115

The detector according to the preceding embodiment, wherein the at leastone photosensitive element is located at at least one of: a corner ofthe fluorescent waveguiding sheet; a straight edge, e.g. a straight rimportion, of the fluorescent waveguiding sheet.

Embodiment 116

The detector according to any one of the two preceding embodiments,wherein the at least one photosensitive element is optically coupled tothe fluorescent waveguiding sheet by at least one optical couplingelement configured for at least partially coupling the fluorescencelight guided by the fluorescent waveguiding sheet out of the fluorescentwaveguiding sheet.

Embodiment 117

The detector according to the preceding embodiment, wherein the opticalcoupling element is configured for at least partially coupling thefluorescence light coupled out of the fluorescent waveguiding sheet intothe photosensitive element.

Embodiment 118

The detector according to any one of the two preceding embodiments,wherein the optical coupling element is selected from the groupconsisting of: a portion of transparent adhesive attaching thephotosensitive element to the fluorescent waveguiding sheet; an etchedportion within the fluorescent waveguiding sheet; a scratch in thefluorescent waveguiding sheet; a prism.

Embodiment 119

The detector according to any one of the five preceding embodiments,wherein the at least one first optical sensor and the at least onephotosensitive element of the at least one second optical sensor haveessentially identical electrical capacitance.

Embodiment 120

The detector according to any one of the six preceding embodiments,wherein the evaluation device is configured for deriving a quotientsignal Q by dividing the first and second sensor signals, by dividingmultiples of the first and second sensor signals or by dividing linearcombinations of the first and second sensor signals, wherein theevaluation device is configured for determining the longitudinalcoordinate by evaluating the quotient signal Q.

Embodiment 121

The detector according to the preceding embodiment, wherein theevaluation device is configured for using at least one predeterminedrelationship between the quotient signal Q and the longitudinalcoordinate.

Embodiment 122

The detector according to the preceding embodiment, wherein thepredetermined relationship is one or more of an empiric relationship, asemi-empiric relationship and an analytically derived relationship.

Embodiment 123

The detector according to any one of the two preceding embodiments,wherein the evaluation device comprises at least one data storage devicefor storing the predetermined relationship.

Embodiment 124

The detector according to any one of the four preceding embodiments,wherein the evaluation device comprises at least one divider, whereinthe divider is configured for deriving the quotient signal.

Embodiment 125

The detector according to the preceding embodiment, wherein the divideris fully or partially embodied as one or both of a software divider or ahardware divider.

Embodiment 126

The detector according to any one of the twelve preceding embodiments,wherein the first optical sensor is located in front of the secondoptical sensor, preferably such that the light beam, in the given order,illuminates the first optical sensor and, afterwards, the second opticalsensor.

Embodiment 127

The detector according to any one of the thirteen preceding embodiments,wherein the second optical sensor comprises at least two, preferably atleast three and most preferably at least four photosensitive elementslocated at at least two edges of the fluorescent waveguiding sheet,capable of detecting fluorescence light guided from the light spottowards the photosensitive elements by the fluorescent waveguiding sheetand capable of generating at least one sensor signal each.

Embodiment 128

The detector according to the preceding embodiment, wherein the at leasttwo photosensitive elements are located at one or more of: at least twostraight edges, e.g. straight rim portions, of the fluorescentwaveguiding sheet, at least two corners of the fluorescent waveguidingsheet, at least one corner of the fluorescent waveguiding sheet and atleast one straight edge of the fluorescent waveguiding sheet.

Embodiment 129

The detector according to the preceding embodiment, wherein theevaluation device comprises at least one summing device configured forsumming up the sensor signals of the at least two photosensitiveelements, thereby forming a sum signal S.

Embodiment 130

The detector according to the preceding embodiment, wherein the sumsignal is derived by using the formula S=Σ_(i)c_(i)s_(i), with s_(i)being the sensor signals, with i=1 . . . N with N being a positiveinteger indicating the number of the photosensitive elements or asmaller positive integer, and with c_(i) being respective calibrationcoefficients.

Embodiment 131

The detector according to any one of the two preceding embodiments,wherein the evaluation device is configured to determine the at leastone longitudinal coordinate z of the object by using at least onepredetermined relationship between the first sensor signal, the sumsignal S of the second sensor signals and the longitudinal coordinate z.

Embodiment 132

The detector according to any one of the four preceding embodiments,wherein the evaluation device is further configured to determine atleast one transversal coordinate x, y of the object by evaluating thesensor signals of the photosensitive elements.

Embodiment 133

The detector according to the preceding embodiment, wherein theevaluation device comprises at least one subtracting device configuredto form at least one difference signal D between second sensor signalsgenerated by at least two of the photosensitive elements.

Embodiment 134

The detector according to the preceding embodiment, wherein the secondsensor signals comprise at least one second sensor signal s₂₁ and atleast one second sensor signal s₂₂, wherein the at least one differencesignal D is proportional to a·s₂₁−b·s₂₂, with a, b being real numbercoefficients, preferably with a=1 and b=1.

Embodiment 135

The detector according to the preceding embodiment, wherein the at leastone difference signal D is derived according to the formulaD=(a·s₂₁−b·s₂₂)/(a·s₂₁+b·s₂₂).

Embodiment 136

The detector according to any one of the three preceding embodiments,wherein the subtracting device is configured to form at least one firstdifference signal D_(X) from which at least one first transversalcoordinate x of the object is derived, wherein the subtracting device isfurther configured to form at least one second difference signal D_(y)from which at least one second transversal coordinate y of the object isderived.

Embodiment 137

The detector according to the preceding embodiment, wherein the firstdifference signal D_(X) is generated from at least two second sensorsignals s_(x1), s_(x2) of at least two photosensitive elements locatedat opposing edges, e.g. opposing rim portions and/or corners, of thewaveguiding sheet in a first dimension, and wherein the seconddifference signal D_(y) is generated from at least two second sensorsignals s_(y1), s_(y2) of at least two photosensitive elements locatedat opposing edges, e.g. opposing rim portions and/or corners, of thewaveguiding sheet in a second dimension.

Embodiment 138

The detector according to the preceding embodiment, wherein the at leastone first difference signal D_(X) is derived according to the formulaD_(X)=(a·s_(x1)−b·s_(x2))/(a·s_(x1)+b·s_(x2)), and wherein the at leastone second difference signal D_(y) is derived according to the formulaD_(y)=(c·s_(y1)−d·s_(y2))/(c·s_(y1)+d·s_(y2)), with a, b, c, d beingreal number coefficients, preferably with a=1, b=1, c=1 and d=1.

Embodiment 139

The detector according to any one of the 11 preceding embodiments,wherein the photosensitive elements comprise at least two photosensitiveelements located at opposing edges, e.g. opposing rim portions and/orcorners, of the fluorescent waveguiding sheet.

Embodiment 140

The detector according to any one of the 12 preceding embodiments,wherein the photosensitive elements comprise at least one first pair ofphotosensitive elements located at opposing edges, e.g. opposing rimportions and/or corners, of the fluorescent waveguiding sheet in a firstdimension of a coordinate system, wherein the photosensitive elementsfurther comprise at least one second pair of photosensitive elementslocated at opposing edges, e.g. opposing rim portions and/or corners, ofthe fluorescent waveguiding sheet in a second dimension of thecoordinate system.

Embodiment 141

The detector according to any one of the 27 preceding embodiments,wherein the second sensitive area is a homogeneous sensitive area.

Embodiment 142

The detector according to any one of the 28 preceding embodiments,wherein the second sensitive area has a surface area of at least 5 mm²,preferably of at least 10 mm², more preferably of at least 100 mm², morepreferably of at least 400 mm².

Embodiment 143

The detector according to any one of the 29 preceding embodiments,wherein the fluorescent waveguiding sheet comprises at least one planarsheet.

Embodiment 144

The detector according to any one of the 30 preceding embodiments,wherein the fluorescent waveguiding sheet has a thickness of 10 μm to 3mm, preferably a thickness of 100 μm to 1 mm, such as a thickness of 50μm to 2 mm.

Embodiment 145

The detector according to any one of the 31 preceding embodiments,wherein the fluorescent waveguiding sheet is flexible or deformable.

Embodiment 146

The detector according to any one of the 32 preceding embodiments,wherein the fluorescent waveguiding sheet comprises at least one matrixmaterial, wherein the at least one fluorescent material is one or moreof mixed into the matrix material, dispersed into the matrix material,chemically bound to the matrix material or dissolved in the matrixmaterial.

Embodiment 147

The detector according to the preceding embodiment, wherein the matrixmaterial comprises at least one plastic material.

Embodiment 148

The detector according to the preceding embodiment, wherein the plasticmaterial comprises at least one polymer material.

Embodiment 149

The detector according to any one of the two preceding embodiments,wherein the plastic material comprises at least one material selectedfrom the group consisting of: a polycarbonate, a poly(methylmethacrylate), a polystyrene, a polyurethane, a polypropylene, apolyethylene terephthalate, a polyvinylchloride.

Embodiment 150

The detector according to any one of the 36 preceding embodiments,wherein the fluorescent material comprises at least one fluorescent dye.

Embodiment 151

The detector according to the preceding embodiment, wherein thefluorescent dye comprises at least one organic fluorescent dye.

Embodiment 152

The detector according to any one of the two preceding embodiments,wherein the fluorescent dye is selected from the group consisting of: axanthene derivative, preferably one or more of fluorescein, rhodamine,oregon green, eosin, texas red, or a derivative of any componentthereof; a cyanine derivative, preferably one or more of cyanine,indocarbocyanine, oxacarbocyanine, thiacarbocyanine, merocyanine, or aderivative of any component thereof; a squaraine derivative or aring-substituted squaraine, preferably one or more of Seta, SeTau, andSquare dyes, or a derivative of any component thereof; a naphthalenederivative, preferably one or more of a dansyl or a prodan derivativethereof; a coumarin derivative; a oxadiazole derivative, preferably oneor more of pyridyloxazole, nitrobenzoxadiazole, benzoxadiazole, or aderivative of any component thereof; an anthracene derivative,preferably one or more of an anthraquinone, DRAQ5, DRAQ7, CyTRAK orange,or a derivative of any component thereof; a pyrene derivative,preferably cascade blue; an oxazine derivative, preferably one or moreof nile red, nile blue, cresyl violet, oxazine 170, or a derivative ofany component thereof; an acridine derivative, preferably one or more ofproflavin, acridine orange, acridine yellow, or a derivative of anycomponent thereof; an arylmethine derivative, preferably one or more ofauramine, crystal violet, malachite green, or a derivative of anycomponent thereof; a tetrapyrrole derivative, preferably one or more ofporphin, phthalocyanine, bilirubin; a rylene dye or any derivativethereof, such as a perylene dye; a naphthalene imid or perylene imide; anaphthoilene benzimidazole dye such as published in WO 2012/168395 A1;or a derivative of any component thereof.

Embodiment 153

The detector according to any one of the 39 preceding embodiments,wherein the at least one photosensitive element comprises at least oneelongated photosensitive element extending along at least one segment ofan edge of the fluorescent waveguiding sheet.

Embodiment 154

The detector according to any one of the 40 preceding embodiments,wherein the fluorescent waveguiding sheet is a rectangular fluorescentwaveguiding sheet, preferably a square fluorescent waveguiding sheet,wherein photosensitive elements are located at each of the four edges,e.g. each of the four rim portions and/or corners, of the fluorescentwaveguiding sheet.

Embodiment 155

The detector according to any one of the 41 preceding embodiments,wherein the detector further comprises at least one optical filterelement, preferably at least one optical short-pass filter.

Embodiment 156

The detector according to any one of the 42 preceding embodiments,wherein the first and second optical sensors are arranged linearly inone and the same beam path of the detector.

Embodiment 157

The detector according to the preceding embodiment, wherein the firstand second optical sensors are arranged concentrically with respect toan optical axis of the detector.

Embodiment 158

The detector according to any one of the 44 preceding embodiments,wherein the first optical sensor is arranged in front of the secondoptical sensor and is spaced apart from the second optical sensor by nomore than five times the square root of a surface area of the firstlight-sensitive area.

Embodiment 159

The detector according to any one of the 45 preceding embodiments,wherein the first optical sensor is arranged in front of the secondoptical sensor and is spaced apart from the second optical sensor by nomore than 50 mm, preferably by no more than 15 mm.

Embodiment 160

The detector according to any one of the 46 preceding embodiments,wherein the second light-sensitive area is larger by at least a factorof two, more preferably by at least a factor of three and mostpreferably by at least a factor of five as compared to the firstlight-sensitive area.

Embodiment 161

The detector according to any one of the 47 preceding embodiments,wherein the first light-sensitive area has a surface area of 1 mm² to150 mm², more preferably a surface area of 10 mm² to 100 mm².

Embodiment 162

The detector according to any one of the 48 preceding embodiments,specifically according to the preceding embodiment, wherein the secondlight-sensitive area has a surface area of 160 mm² to 1000 mm², morepreferably a surface area of 200 mm² to 600 mm².

Embodiment 163

The detector according to any one of the 49 preceding embodiments,wherein the first and second optical sensor each have, at least within arange of measurement, a linear signal characteristic such that therespective first and second sensor signals are dependent on the totalpower of illumination of the respective optical sensor and areindependent from a diameter of a light spot of the illumination.

Embodiment 164

The detector according to any one of the 50 preceding embodiments,wherein the first optical sensor is a semiconductor sensor, preferablyan inorganic semiconductor sensor, more preferably a photodiode and mostpreferably a silicon photodiode.

Embodiment 165

The detector according to any one of the 51 preceding embodiments,wherein the first optical sensor is a uniform sensor having a singlelight-sensitive area.

Embodiment 166

The detector according to any one of the 52 preceding embodiments,wherein the detector further comprises an illumination source forilluminating the object.

Embodiment 167

The detector according to the preceding embodiment, wherein theillumination source is configured for generating an illuminating lightbeam for illuminating the object, wherein the detector is configuredsuch that the illuminating light beam propagates from the detectortowards the object along an optical axis of the detector.

Embodiment 168

The detector according to the preceding embodiment, wherein the detectorcomprises at least one reflective element, preferably at least oneprism, for deflecting the illuminating light beam onto the optical axis.

Embodiment 169

The detector according to any one of the 55 preceding embodiments,wherein the detector further comprises at least one transfer device, thetransfer device being adapted to guide the light beam onto the opticalsensors.

Embodiment 170

The detector according to the preceding embodiment, wherein the transferdevice comprises one or more of: at least one lens, at least onefocus-tunable lens, at least one spheric lens, at least one asphericlens, at least one Fresnel lens; at least one diffractive opticalelement; at least one beam deflection element, preferably at least onemirror; at least one beam splitting element, preferably at least one ofa beam splitting cube or a beam splitting mirror; at least onemulti-lens system.

Embodiment 171

The detector according to any one of the 57 preceding embodiments,wherein the first light-sensitive area, in a direction of propagation ofthe light beam, overlaps with the second light-sensitive area.

Embodiment 172

A detector for determining a position of at least one object, thedetector comprising:

-   -   at least one angle dependent optical element adapted to generate        at least one transmission light beam having at least one beam        profile depending on an angle of incidence of an incident light        beam propagating from the object towards the detector and        illuminating the angle dependent optical element;    -   at least two optical sensors, wherein each optical sensor has at        least one light sensitive area, wherein each optical sensor is        designed to generate at least one sensor signal in response to        an illumination of its respective light-sensitive area by the        light beam generated by the angle dependent optical element;    -   at least one evaluation device being configured for determining        at least one longitudinal coordinate z of the object by        evaluating a quotient signal Q from the sensor signals.

Embodiment 173

The detector according to the preceding embodiment, wherein the angledependent optical element comprises at least one optical elementselected from the group consisting of: at least one optical fiber, inparticular at least one multifurcated optical fiber, in particular atleast one bifurcated optical fiber; at least one diffractive opticalelement; at least one angle dependent reflective element, at least onediffractive grating element, in particular a blaze grating element; atleast one aperture stop; at least one lens array, in particular at leastone microlens array; at least one optical filter; at least onepolarization filter; at least one bandpass filter; at least one liquidcrystal filter, in particular a liquid crystal tunable filter; at leastone short-pass filter; at least one long-pass filter; at least one notchfilter; at least one interference filter; at least one transmissiongrating; at least one nonlinear optical element, in particular onebirefringent optical element.

Embodiment 174

The detector according to any one of the two preceding embodiments,wherein the detector comprises at least one transfer device, wherein thetransfer device has at least one focal length in response to at leastone incident light beam propagating from the object to the detector.

Embodiment 175

The detector according to any one of the three preceding embodiments,wherein the detector further comprises an illumination source forilluminating the object.

Embodiment 176

The detector according to the preceding embodiment, wherein theillumination source is adapted to illuminate the object through theangle dependent optical element.

Embodiment 177

The detector according to any one of the two preceding embodiments,wherein the illumination source and the angle dependent optical elementare arranged in the direction of propagation of the light beam travelingfrom the object to the detector behind the transfer device.

Embodiment 178

The detector according to any one of the three preceding embodiments,wherein a distance perpendicular to an optical axis of the detectorbetween the illumination source and the optical sensors is small.

Embodiment 179

The detector according to the preceding embodiment, wherein the distanceperpendicular to the optical axis of the detector between theillumination source and the optical sensors is less than 0.1 m,preferably less than 0.05 m, more preferably less than 0.025 m.

Embodiment 180

The detector according to any one of the two preceding embodiments,wherein the angle dependent optical element is an optical fiber, whereinthe illumination source is guided through the optical fiber, wherein theillumination source is adapted to generate at least one illuminationbeam, wherein the illumination beam exits the optical fiber behind thetransfer device within a baseline that is smaller than a radius of thetransfer device, wherein the optical fiber guiding the illumination beammay be attached to the transfer device to reduce reflections atinterfaces with larger differences in refractive index.

Embodiment 181

The detector according to the preceding embodiment, wherein the opticalfiber is attached to the transfer device by one or more of a polymer, aglue or other means for attachment.

Embodiment 182

The detector according to any one of the four preceding embodiments,wherein the distance perpendicular to the optical axis of the detectorbetween the illumination source and the optical sensors is less than theradius of the transfer device.

Embodiment 183

The detector according to any one of the eleven preceding embodiments,wherein the evaluation device is configured for deriving the quotientsignal Q by one or more of dividing the sensor signals, dividingmultiples of the sensor signals, dividing linear combinations of thesensor signals.

Embodiment 184

The detector according to the preceding embodiment, wherein theevaluation device is configured for using at least one predeterminedrelationship between the quotient signal Q and the longitudinalcoordinate for determining the longitudinal coordinate.

Embodiment 185

The detector according to any one of the thirteen preceding embodiments,wherein the evaluation device is configured for deriving the quotientsignal Q by

${Q\left( z_{O} \right)} = \frac{\underset{A_{1}}{\int\int}{E\left( {x,{y;z_{O}}} \right)}{dxdy}}{\underset{A_{2}}{\int\int}{E\left( {x,{y;z_{O}}} \right)}{dxdy}}$

wherein x and y are transversal coordinates, A1 and A2 are areas of thebeam profile at a sensor position of the optical sensors, and E(x,y,zo)denotes the beam profile given at the object distance zo.

Embodiment 186

The detector according to any one of the fourteen preceding embodiments,wherein the evaluation device comprises at least one divider, whereinthe divider is configured for deriving the quotient signal.

Embodiment 187

The detector according to any one of the fifteen preceding embodiments,wherein the optical sensors are positioned off focus.

Embodiment 188

The detector according to any one of the sixteen preceding embodiments,wherein each of the sensor signals comprises at least one information ofat least one area of the beam profile of the beam profile of the lightbeam generated by the angle dependent optical element.

Embodiment 189

The detector according to the preceding embodiment, wherein the beamprofile is selected from the group consisting of a trapezoid beamprofile; a triangle beam profile; a conical beam profile and a linearcombination of Gaussian beam profiles.

Embodiment 190

The detector according to any one of the two preceding embodiments,wherein the light-sensitive areas are arranged such that a first sensorsignal comprises information of a first area of the beam profiles and asecond sensor signal comprises information of a second area of the beamprofile, wherein the first area of the beam profile and the second areaof the beam profile are one or both of adjacent or overlapping regions.

Embodiment 191

The detector according to the preceding embodiment, wherein theevaluation device is configured to determine the first area of the beamprofile and the second area of the beam profile.

Embodiment 192

The detector according to any one of the four preceding embodiments,wherein the first area of the beam profile comprises essentially edgeinformation of the beam profile and the second area of the beam profilecomprises essentially center information of the beam profile.

Embodiment 193

The detector according to any one of the twenty preceding embodiments,wherein the edge information comprises information relating to a numberof photons in the first area of the beam profile and the centerinformation comprises information relating to a number of photons in thesecond area of the beam profile.

Embodiment 194

The detector according to any one of the two preceding embodiments,wherein the light beam propagating from the object to the detectorilluminates the optical sensors with at least one line pattern, whereinA1 corresponds to an area with a full line width of the line pattern onthe optical sensors, wherein A2 is a central area of the line pattern onthe optical sensors.

Embodiment 195

The detector according to any one of the four preceding embodiments,wherein the light beam propagating from the object to the detectorilluminates the optical sensors with at least one point pattern, whereinA1 corresponds to an area with a full radius of a point of the pointpattern on the optical sensors, wherein A2 is a central area of thepoint in the point pattern on the optical sensors.

Embodiment 196

The detector according to any one of the two the preceding embodiments,wherein the evaluation device is configured to derive the quotientsignal Q by one or more of dividing the edge information and the centerinformation, dividing multiples of the edge information and the centerinformation, dividing linear combinations of the edge information andthe center in-formation.

Embodiment 197

The detector according to any one of the 23 preceding embodiments,wherein the detector has at least one sensor element having a matrix ofoptical sensors, the optical sensors each having a light-sensitive area,wherein each optical sensor is configured to generate at least onesensor signal in response to an illumination of the light-sensitive areaby the light beam generated by the angle dependent optical element.

Embodiment 198

The detector according to the preceding embodiment, wherein theevaluation device is configured for evaluating the sensor signals, by

a) determining at least one optical sensor having the highest sensorsignal and forming at least one center signal;

b) evaluating the sensor signals of the optical sensors of the matrixand forming at least one sum signal;

c) determining at least one combined signal by combining the centersignal and the sum signal; and

d) determining at least one longitudinal coordinate z of the object byevaluating the combined signal.

Embodiment 199

The detector according to the preceding embodiment, wherein the centersignal is selected from the group consisting of: the highest sensorsignal; an average of a group of sensor signals being within apredetermined range of tolerance from the highest sensor signal; anaverage of sensor signals from a group of optical sensors containing theoptical sensor having the highest sensor signal and a predeterminedgroup of neighboring optical sensors; a sum of sensor signals from agroup of optical sensors containing the optical sensor having thehighest sensor signal and a predetermined group of neighboring opticalsensors; a sum of a group of sensor signals being within a predeterminedrange of tolerance from the highest sensor signal; an average of a groupof sensor signals being above a predetermined threshold; a sum of agroup of sensor signals being above a predetermined thresh-old; anintegral of sensor signals from a group of optical sensors containingthe optical sensor having the highest sensor signal and a predeterminedgroup of neighboring optical sensors; an integral of a group of sensorsignals being within a predetermined range of tolerance from the highestsensor signal; an integral of a group of sensor signals being above apredetermined threshold.

Embodiment 200

The detector according to any one of the two preceding embodiments,wherein the sum signal is selected from the group consisting of: anaverage over all sensor signals of the matrix; a sum of all sensorsignals of the matrix; an integral of all sensor signals of the matrix;an average over all sensor signals of the matrix except for sensorsignals from those optical sensors contributing to the center signal; asum of all sensor signals of the matrix except for sensor signals fromthose optical sensors contributing to the center signal; an integral ofall sensor signals of the matrix except for sensor signals from thoseoptical sensors contributing to the center signal; a sum of sensorsignals of optical sensors within a predetermined range from the opticalsensor having the highest sensor signal; an integral of sensor signalsof optical sensors within a predetermined range from the optical sensorhaving the highest sensor signal; a sum of sensor signals above acertain threshold of optical sensors being located within apredetermined range from the optical sensor having the highest sensorsignal; an integral of sensor signals above a certain threshold ofoptical sensors being located within a predetermined range from theoptical sensor having the highest sensor signal.

Embodiment 201

The detector according to any one of the three preceding embodiments,wherein the combined signal is the quotient signal Q, derived by one ormore of: forming a quotient of the center signal and the sum signal orvice versa; forming a quotient of a multiple of the center signal and amultiple of the sum signal or vice versa; forming a quotient of a linearcombination of the center signal and a linear combination of the sumsignal or vice versa; forming a quotient of a first linear combinationof the center signal and the sum signal and a second linear combinationof the center signal and the sum signal.

Embodiment 202

The detector according to any one of the 27 preceding embodiments,wherein each light-sensitive area has a geometrical center, wherein thegeometrical centers of the optical sensors are spaced apart from anoptical axis of the detector by different spatial offsets, wherein eachoptical sensor is configured to generate a sensor signal in response toan illumination of its respective light-sensitive area by the light beamgenerated by the angle dependent optical element.

Embodiment 204

The detector according to the preceding embodiment, wherein the opticalsensors are part of a sensor array, wherein a geometrical center of thesensor array is offset from the optical axis.

Embodiment 205

The detector according to the preceding embodiment, wherein the sensorarray is movable relative to the optical axis.

Embodiment 206

The detector according to the preceding embodiment, wherein theevaluation device is configured for, firstly, determining thetransversal position of a light spot generated by the light beam on thesensor array by using the sensor signals and for, secondly, moving thesensor array relative to the optical axis until the light spot isoff-centered.

Embodiment 207

The detector according to any one of the four preceding embodiments,wherein the optical sensors are partial diodes of a bi-cell or quadrantdiode, with a geometrical center of the quadrant diode beingoff-centered from the optical axis of the detector.

Embodiment 208

A detector system for determining a position of at least one object, thedetector system comprising at least one detector according to any one ofthe preceding embodiments, the detector system further comprising atleast one beacon device adapted to direct at least one light beamtowards the detector, wherein the beacon device is at least one ofattachable to the object, holdable by the object and integratable intothe object.

Embodiment 209

A human-machine interface for exchanging at least one item ofinformation between a user and a machine, wherein the human-machineinterface comprises at least one detector system according to thepreceding embodiment, wherein the at least one beacon device is adaptedto be at least one of directly or indirectly attached to the user andheld by the user, wherein the human-machine interface is designed todetermine at least one position of the user by means of the detectorsystem, wherein the human-machine interface is designed to assign to theposition at least one item of information.

Embodiment 210

An entertainment device for carrying out at least one entertainmentfunction, wherein the entertainment device comprises at least onehuman-machine interface according to the preceding embodiment, whereinthe entertainment device is designed to enable at least one item ofinformation to be input by a player by means of the human-machineinterface, wherein the entertainment device is designed to vary theentertainment function in accordance with the information.

Embodiment 211

A tracking system for tracking a position of at least one movableobject, the tracking system comprising at least one detector systemaccording to any one of the preceding embodiments referring to adetector system, the tracking system further comprising at least onetrack controller, wherein the track controller is adapted to track aseries of positions of the object at specific points in time.

Embodiment 212

A scanning system for determining a depth profile of a scenery, thescanning system comprising at least one detector according to any of thepreceding embodiments referring to a detector, the scanning systemfurther comprising at least one illumination source adapted to scan thescenery with at least one light beam.

Embodiment 213

A camera for imaging at least one object, the camera comprising at leastone detector according to any one of the preceding embodiments referringto a detector.

Embodiment 214

An inertial measurement unit for use in an electronic device, whereinthe inertial measurement unit is adapted to receive data determined byat least one detector according to any one of the preceding embodimentreferring to a detector, wherein the inertial measurement unit furtheris adapted to receive data determined by at least one further sensorselected from the group consisting of: a wheel speed sensor, a turn ratesensor, an inclination sensor, an orientation sensor, a motion sensor, amagneto hydro dynamic sensor, a force sensor, an angular sensor, anangular rate sensor, a magnetic field sensor, a magnetometer, anaccelerometer; a gyroscope, wherein the inertial measurement unit isadapted to determine by evaluating the data from the detector and the atleast one further sensor at least one property of the electronic deviceselected from the group consisting of: position in space, relative orabsolute motion, rotation, acceleration, orientation, angle position,inclination, turn rate, speed.

Embodiment 215

A readout device for optical storage media, the readout devicecomprising at least one detector according to any one of the precedingembodiments referring to a detector.

Embodiment 216

A method for determining a position of at least one object by using atleast one detector, the method comprising the following steps:

-   -   providing at least two optical sensors, each optical sensor        having a light-sensitive area, wherein each optical sensor is        configured to generate a sensor signal in response to an        illumination of its respective light-sensitive area by the light        beam, wherein the detector has at least one transfer device,        wherein the transfer device has at least one focal length in        response to the light beam propagating from the object to the        detector;    -   illuminating each of the light-sensitive areas of the at least        two optical sensors of the detector with a light beam        propagating from the object to the detector, wherein, thereby,        each of the light-sensitive areas generates at least one sensor        signal; and    -   evaluating the sensor signals, thereby, determining at least one        longitudinal coordinate z of the object, wherein the evaluating        comprises deriving a quotient signal Q of the sensor signals.

Embodiment 217

The method according to the preceding embodiment, wherein thelongitudinal coordinate z of the object is determined in at least onemeasurement range independent from the object size in an object plane.

Embodiment 218

The method according to the preceding embodiment, wherein the derivingof the quotient signal Q comprises one or more of dividing the sensorsignals, dividing multiples of the sensor signals, dividing linearcombinations of the sensor signals.

Embodiment 219

The method according to any one of the preceding embodiments referringto a method, wherein the method comprises adjusting the measurementrange by adjusting on one or more parameters selected from the groupconsisting of: a longitudinal distance from the object to the transferdevice z₀; the focal length of the transfer device f; a diameter of anexit pupil of the transfer device E_(x); a longitudinal distance fromthe transfer device to the light sensitive area z_(s), a distance fromthe transfer device to an image of the object z_(i); an object sizeO_(size) of the object in the object plane.

Embodiment 220

The method according to any one of the preceding embodiments referringto a method, wherein the transfer device has an optical axis, whereinthe transfer device constitutes a coordinate system, wherein alongitudinal coordinate I is a coordinate along the optical axis andwherein d is a spatial offset from the optical axis, wherein the methodcomprises arranging the optical sensors such that the light-sensitiveareas of the optical sensors differ in at least one of: theirlongitudinal coordinate, their spatial offset, or their surface areas.

Embodiment 221

The method according to any one of the preceding embodiments referringto a method, wherein each of the sensor signals comprises at least oneinformation of at least one beam profile of the light beam, wherein thebeam profile is selected from the group consisting of a trapezoid beamprofile; a triangle beam profile; a conical beam profile and a linearcombination of Gaussian beam profiles, wherein the light-sensitiveregions are arranged such that a first sensor signal comprisesinformation of a first area of the beam profiles and a second sensorsignal comprises information of a second area of the beam profile,wherein the first area of the beam profile and the second area of thebeam profile are one or both of adjacent or overlapping regions.

Embodiment 222

The method according to the preceding embodiment, wherein the evaluatingcomprises determining the first area of the beam profile and the secondarea of the beam profile.

Embodiment 223

The method according to any one of the two preceding embodiments,wherein the first area of the beam profile comprises essentially edgeinformation of the beam profile and the second area of the beam profilecomprises essentially center information of the beam profile, whereinthe edge information comprises an information relating to a number ofphotons in the first area of the beam profile and the center informationcomprises an information relating to a number of photons in the secondarea of the beam profile, wherein the evaluating comprises deriving thequotient signal Q by one or more of dividing the edge information andthe center information, dividing multiples of the edge information andthe center information, dividing linear combinations of the edgeinformation and the center information.

Embodiment 224

A method for determining a position of at least one object by using atleast one detector, the method comprising the following steps:

-   -   illuminating at least one first light-sensitive area of at least        one first optical sensor of the detector with a light beam        propagating from the object to the detector and, thereby,        generating at least one first sensor signal;    -   illuminating at least one second light-sensitive area of at        least one second optical sensor of the detector with the light        beam and, thereby, generating at least one second sensor signal,        wherein the first light-sensitive area is smaller than the        second light-sensitive area; and    -   evaluating the first and second sensor signals, thereby        determining at least one longitudinal coordinate z of the        object.

Embodiment 225

The method according to the preceding embodiment, wherein the evaluatingthe first and second sensor signal comprises deriving a quotient signalQ by dividing the first and second sensor signals, by dividing multiplesof the first and second sensor signals or by dividing linearcombinations of the first and second sensor signals, and wherein thedetermining the longitudinal coordinate comprises evaluating thequotient signal Q.

Embodiment 226

A method for determining a position of at least one object by using atleast one detector, the method comprising the following steps:

-   -   illuminating at least one sensor element of the detector with at        least one light beam propagating from the object to the        detector, the detector having a matrix of optical sensors, the        optical sensors each having a light-sensitive area, wherein each        optical sensor generates at least one sensor signal in response        to the illumination;    -   evaluating the sensor signals, by        a) determining at least one optical sensor having the highest        sensor signal and forming at least one center signal;        b) evaluating the sensor signals of the optical sensors of the        matrix and forming at least one sum signal;        c) determining at least one combined signal by combining the        center signal and the sum signal; and        d) determining at least one longitudinal coordinate z of the        object by evaluating the combined signal.

Embodiment 227

The method according to the preceding embodiment, wherein the combinedsignal is a quotient signal Q, derived by one or more of: forming aquotient of the center signal and the sum signal or vice versa; forminga quotient of a multiple of the center signal and a multiple of the sumsignal or vice versa; forming a quotient of a linear combination of thecenter signal and a linear combination of the sum signal or vice versa;forming a quotient of a first linear combination of the center signaland the sum signal and a second linear combination of the center signaland the sum signal.

Embodiment 228

The method according to the preceding embodiment, wherein determiningthe longitudinal coordinate comprises evaluating the quotient signal Q,wherein evaluating the quotient signal comprises using at least onepredetermined relationship between the quotient signal Q and thelongitudinal coordinate for determining the longitudinal coordinate.

Embodiment 229

The method according to any one of the three preceding methodembodiments, wherein the method comprises using the detector accordingto any one of the preceding embodiments referring to a detector.

Embodiment 230

A method for determining a position of at least one object by using atleast one detector, the method comprising the following steps:

-   -   providing at least two optical sensors, each optical sensor        having a light-sensitive area, wherein each light-sensitive area        has a geometrical center, wherein the geometrical centers of the        optical sensors are spaced apart from an optical axis of the        detector by different separations, wherein each optical sensor        is configured to generate a sensor signal in response to an        illumination of its respective light-sensitive area by a light        beam;    -   illuminating the at least two light-sensitive areas of the at        least two optical sensors of the detector with a light beam        propagating from the object to the detector and, thereby,        generating at least two sensor signals; and    -   evaluating the sensor signals by combining the at least two        sensor signals, thereby determining at least one longitudinal        coordinate z of the object.

Embodiment 231

The method according to the preceding embodiment, wherein evaluating ofthe sensor signals comprises deriving a quotient signal Q by one or moreof dividing the sensor signals, dividing multiples of the sensor signalsor dividing linear combinations of the sensor signals, and wherein thedetermining of the longitudinal coordinate comprises evaluating thequotient signal Q.

Embodiment 232

A method for determining a position of at least one object by using atleast one detector, the method comprising the following steps:

-   -   providing at least one angle dependent optical element and        generating at least one light beam having at least one beam        profile depending on an angle of incidence;    -   providing at least two optical sensors, wherein each optical        sensor has at least one light sensitive area, wherein each        optical sensor is designed to generate at least one sensor        signal in response to an illumination of its respective        light-sensitive area by the light beam generated by the angle        dependent optical element;    -   illuminating each of the light-sensitive areas of the at least        two optical sensors of the detector with the light beam        generated by the angle dependent optical element, wherein,        thereby, each of the light-sensitive areas generates at least        one sensor signal; and    -   evaluating the sensor signals, thereby, determining at least one        longitudinal coordinate z of the object, wherein the evaluating        comprises deriving a combined signal Q of the sensor signals.

Embodiment 233

The method according to the preceding embodiment, wherein the derivingof the combined signal Q comprises one or more of dividing the sensorsignals, dividing multiples of the sensor signals, dividing linearcombinations of the sensor signals.

Embodiment 234

A use of the detector according to any one of the preceding embodimentsrelating to a detector, for a purpose of use, selected from the groupconsisting of: a position measurement in traffic technology; anentertainment application; an optical data storage application; asecurity application; a surveillance application; a safety application;a human-machine interface application; a tracking application; aphotography application; a logistics application; a machine visionapplication; a robotics application; a quality control application; amanufacturing application; a use in combination with optical datastorage and readout.

BRIEF DESCRIPTION OF THE FIGURES

Further optional details and features of the invention are evident fromthe description of preferred exemplary embodiments which follows inconjunction with the dependent claims. In this context, the particularfeatures may be implemented in an isolated fashion or in combinationwith other features. The invention is not restricted to the exemplaryembodiments. The exemplary embodiments are shown schematically in thefigures. Identical reference numerals in the individual figures refer toidentical elements or elements with identical function, or elementswhich correspond to one another with regard to their functions.

Specifically, in the figures:

FIGS. 1 and 2 show different embodiments of a detector according to thepresent invention;

FIG. 3 shows a quotient signal Q as a function of a longitudinalcoordinate z of an object, for various intensities of a light source;

FIG. 4 shows a quotient signal Q as a function of a longitudinalcoordinate z of an object for various target sizes;

FIG. 5 shows an exemplary embodiment of a detector according to thepresent invention, a detector system, a human-machine interface, anentertainment device, a tracking system, a scanning system and a camera.

FIGS. 6 and 7 show further different embodiments of a detector accordingto the present invention;

FIG. 8 shows an example of a light spot on a matrix of optical sensorsand the evaluation thereof;

FIG. 9 shows a further exemplary embodiment of a detector according tothe present invention; a detector system, a human machine interface, anentertainment device, a tracking system, a scanning system and a camera;and

FIG. 10 shows an exemplary embodiment of a quotient signal Q as afunction of a longitudinal coordinate z, for various illuminationintensities;

FIGS. 11 and 12 show further different embodiments of a detectoraccording to the present invention;

FIG. 13 shows a further exemplary embodiment of a detector according tothe present invention, a detector system, a human-machine interface, anentertainment device, a tracking system, a scanning system and a camera;

FIG. 14 shows an off-centered position of the optical axis of thedetector and of a light spot on a quadrant diode;

FIG. 15 shows an alternative embodiment of a detector with staggeredoptical sensors;

FIGS. 16 to 18 show a quotient signal Q of two sensor signals of twophotodiodes of a quadrant photodiode as a function of a longitudinalcoordinate z of an object under various measurement conditions;

FIGS. 19A and 19B show a modification of the embodiment of FIG. 12, withan off-axis illumination light beam;

FIGS. 19C to 19E shows a comparison of two experimental setups using adetector setup according to FIG. 19A with a Bi-cell as optical sensorsand experimental results;

FIGS. 20 and 21 show further different embodiments of a detectoraccording to the present invention;

FIGS. 22A and 22B show different views of an exemplary embodiment of asecond optical sensor which may be used in the present invention;

FIG. 23 shows a top view onto the light-sensitive area of the secondoptical sensor shown in FIGS. 22A and 22B, with a light spot generatedby a light beam;

FIG. 24 shows a further exemplary schematic setup of an evaluationdevice;

FIG. 25 shows a further exemplary embodiment of a detector according tothe present invention, a detector system, a human-machine interface, anentertainment device, a tracking system, a scanning system and a camera;

FIGS. 26A and 26B show an alternative embodiment of a second opticalsensor which may be used in the present invention;

FIGS. 27A and 27B show further exemplary embodiments of a detectoraccording to the present invention;

FIG. 28 shows experimental results of a distance determination with adetector according to the present invention;

FIG. 29 shows a further exemplary embodiment of a detector according tothe present invention;

FIG. 30 shows an exemplary cloud of points impinging on a sensorelement;

FIGS. 31A to O show further exemplary configurations of optical sensorsaccording to the present invention;

FIG. 32 shows experimental results of a determination of a longitudinalcoordinate z for different object sizes;

FIGS. 33A and B show an exemplary beam profile and determination offirst area and second area of the beam profile;

FIG. 34 shows a further exemplary embodiment of the detector;

FIG. 35 shows an exemplary embodiment of a detector according to thepresent invention;

FIG. 36 shows an embodiment with a multifurcated optical fiber;

FIG. 37 shows a cut through the optical fiber of FIG. 36;

FIG. 38 visualizes angle dependent transmission of an angle dependentoptical element;

FIG. 39 shows angle dependent transmission power of the optical fiber atconstant irradiated power;

FIGS. 40A and B show experimental results of distance measurement;

FIG. 41 shows an exemplary embodiment of a detector according to thepresent invention, a detector system, a human-machine interface, anentertainment device, a tracking system, a scanning system and a camera;

FIG. 42 shows an embodiment of determining a longitudinal coordinate zusing a line pattern;

FIG. 43 shows a simulation testing of object size independence for aone-dimensional case using computational ray tracing;

FIGS. 44A and B show a defocused beam profile subdivided intocross-sections along lines of a certain angle θ and with a distance ωfrom the origin of ordinates and Radon transformation different imageregions on a matrix of optical sensors;

FIGS. 45A and B show further embodiments of the detector according tothe present invention comprising at least one bi-cell;

FIG. 46 shows spot diameter independence of the combined sensor signal;

FIGS. 47A to C show three embodiments of a hexagonal illuminationpattern;

FIG. 48 shows an embodiment of a scanning device;

DETAILED DESCRIPTION OF THE EMBODIMENTS

In FIG. 1, a schematic view of a first embodiment of a detector 110 fordetermining a position of at least one object 112 is depicted. Thedetector 110 comprises at least two optical sensors 113, for example afirst optical sensor 118 and a second optical sensor 120, each having atleast one light-sensitive area 121. In this case, the object 112comprises a beacon device 114, from which a light beam 116 propagatestowards the first optical sensor 118 and the second optical sensor 120.The first optical sensor 118 may comprise a first light-sensitive area122, and the second optical sensor 120 may comprise a secondlight-sensitive area 124. The light beam 116, as an example, maypropagate along an optical axis 126 of the detector 110. Otherembodiments, however, are feasible. The optical detector 110, further,comprises at least one transfer device 128, such as at least one lens ora lens system, specifically for beam shaping. The transfer device 128has at least one focal length in response to the incident light beam 116propagating from the object 112 to the detector 110. The transfer device128 has an optical axis 129, wherein the transfer device 128 and theoptical detector preferably may have a common optical axis. The transferdevice 128 constitutes a coordinate system. A direction parallel orantiparallel to the optical axis 126, 129 may be defined as alongitudinal direction, whereas directions perpendicular to the opticalaxis 126, 129 may be defined as transversal directions, wherein alongitudinal coordinate I is a coordinate along the optical axis 126,129 and wherein d is a spatial offset from the optical axis 126, 129.Consequently, the light beam 116 is focused, such as in one or morefocal points 130, and a beam width of the light beam 116 may depend on alongitudinal coordinate z of the object 112, such as on a distancebetween the detector 110 and the beacon device 114 and/or the object112. The optical sensors 118, 120 may be positioned off focus. Fordetails of this beam width dependency on the longitudinal coordinate,reference may be made to one or more of WO 2012/110924 A1 and/or WO2014/097181 A1.

In this first preferred embodiment the optical sensors 118, 120 may bearranged such that the light-sensitive areas 122, 124 differ in theirlongitudinal coordinate and/or their surface areas and/or their surfaceshapes. As can be seen in FIG. 1, the first optical sensor 118 is asmall optical sensor, whereas the second optical sensor 120 is a largeoptical sensor. Thus, the width of the light beam 116 fully covers thefirst light-sensitive area 122, whereas, on the second light-sensitivearea 124, a light spot is generated which is smaller than the secondlight-sensitive area 124, such that the light spot is fully locatedwithin the second light-sensitive area 124. As an example, the firstlight-sensitive area 122 may have a surface area of 1 mm² to 100 mm²,whereas the second light-sensitive area 124 may have a surface area of50 to 600 mm². Other embodiments, however, are feasible.

The first optical sensor 118, in response to the illumination by thelight beam 116, may generate a first sensor signal s₁, whereas thesecond optical sensor 120 may generate a second sensor signal s₂.Preferably, the optical sensors 118, 120 are linear optical sensors,i.e. the sensor signals s₁ and s₂ each are solely dependent on the totalpower of the light beam 116 or of the portion of the light beam 116illuminating their respective light-sensitive areas 122, 124, whereasthese sensor signals s₁ and s₂ are independent from the actual size ofthe light spot of illumination. In other words, preferably, the opticalsensors 118, 120 do not exhibit the above-described FiP effect.

The sensor signals s₁ and s₂ are provided to an evaluation device 132 ofthe detector 110. The evaluation device 132, as symbolically shown inFIG. 1, is embodied to derive a quotient signal Q, as explained above.From the quotient signal Q, derived by dividing the sensor signals s₁and s₂ or multiples or linear combinations thereof, may be used forderiving at least one item of information on a longitudinal coordinate zof the object 112 and/or the beacon device 114, from which the lightbeam 116 propagates towards the detector 110. For further details ofthis evaluation, reference is made to FIGS. 3 and 4 below.

The detector 110, in combination with the at least one beacon device114, may be referred to as a detector system 134, as will be explainedin further detail below with reference to FIG. 5.

In FIG. 2, a modification of the embodiment of FIG. 1 is shown, whichforms an alternative detector 110. The alternative embodiment of thedetector 110 widely corresponds to the embodiment shown in FIG. 1.Instead of using an active light source, i.e. a beacon device 114 withlight-emitting properties for generating the light beam 116, however,the detector 110 comprises at least one illumination source 136. Theillumination source 136, as an example, may comprise a laser, whereas,in FIG. 1, as an example, the beacon device 114 may comprise alight-emitting diode (LED). The illumination source 136 may beconfigured for generating at least one illumination light beam 138 forilluminating the object 112. The illumination light beam 138 is fully orpartially reflected by the object 112 and travels back towards thedetector 110, thereby forming the light beam 116.

As shown in FIG. 2, as an example, the illumination light beam 138 maybe parallel to the optical axis 126 of the detector 110. Otherembodiments, i.e. off-axis illumination and/or illumination at an angle,are feasible, too. In order to provide an on-axis illumination, as shownin FIG. 2, as an example, one or more reflective elements 140 may beused, such as one or more prisms and/or mirrors, such as dichroiticmirrors, such as movable mirrors or movable prisms.

Apart from these modifications, the setup of the embodiment in FIG. 2corresponds to the setup in FIG. 1. Thus, again, an evaluation device132 may be used, having, e.g., at least one divider 142 for forming thequotient signal Q, and, as an example, at least one position evaluationdevice 144, for deriving the at least one longitudinal coordinate z fromthe quotient signal Q. It shall be noted that the evaluation device 132may fully or partially be embodied in hardware and/or software. Thus, asan example, one or more of components 142, 144 may be embodied byappropriate software components.

It shall further be noted that the embodiments shown in FIGS. 1 and 2simply provide embodiments for determining the longitudinal coordinate zof the object 112. It is also feasible, however, to modify the setups ofFIGS. 1 and 2 to provide additional information on a transversalcoordinate of the object 112 and/or of parts thereof. As an example,e.g. in between the transfer device 128 and the optical sensors 118,120, one or more parts of the light beam 116 may be branched off, andmay be guided to a position-sensitive device such as one or more CCDand/or CMOS pixelated sensors and/or quadrant detectors and/or otherposition sensitive devices, which, from a transversal position of alight spot generated thereon, may derive a transversal coordinate of theobject 112 and/or of parts thereof. The transversal coordinate may beused to verify and/or enhance the quality of the distance information.For further details, as an example, reference may be made to one or moreof the above-mentioned prior art documents which provide for potentialsolutions of transversal sensors.

In FIGS. 3 and 4 typical quotient signals Q are depicted, as a functionof the longitudinal coordinate z of an object 112 in a test setup.Therein, a simple quotient s₁/s₂ is shown, for an exemplary setup of thedetector 110. FIGS. 3 and 4, each, show a bundle of experiments whichare not resolved in these figures. Thus, in FIG. 3, various curves aregiven for the setup shown in FIG. 1, with an active beacon device 114having an LED. The current of the LED target of the beacon device 114,in this experiment, is changed from 1000 mA to 25 mA. Basically, nodifference in the quotient signal, as a function of the longitudinalcoordinate z (given in mm) can be detected over the spatial measurementrange of 250 mm to 2,250 mm. The experiment clearly shows that the setupof the detector 110 according to the present invention is independentfrom the total power of the light beam 116. Thus, no additionalinformation on the total power of the light beam, and, thus, noadditional illumination on the luminance is required in order to derivethe longitudinal coordinate. Thus, as shown in FIG. 3, as an example, aunique relationship between a quotient signal Q* as measured in anexperiment and a longitudinal coordinate z* exists.

Thus, the curves as shown in FIG. 3, as an example, may be used ascalibration curves for indicating a unique and predetermined ordeterminable relationship between the quotient signal Q and thelongitudinal coordinate. The curves as shown in FIG. 3, as an example,may be stored in a data storage and/or in a lookup table. Thecalibration curves Q may simply be determined by calibrationexperiments. It is also feasible, however, to derive these curves by oneor more of modelling, analytically, semi-empirically and empirically.

The experiment shown in FIG. 3 clearly demonstrates that the setup ofthe detector 110 according to the present invention provides a largerange of measurement, both in terms of space (e.g. a measurement rangefrom 270 to 2,250 mm) and in terms of brightness or total power of thelight beam 116. In FIG. 4, an additional experiment is shown whichdemonstrates that the setup is widely independent from the target size,i.e. the lateral diameter of the beacon device 114.

For this experiment, again, an LED beacon device 114 was used, similarto the setup shown in FIG. 1, wherein the size of the target, i.e. thevisible part of the LED, was changed by using a diffuser and anadjustable aperture. Thereby, the aperture or the size of the target wasvaried from 1 mm to 25 mm in diameter. Without resolving the curvesshown in FIG. 4 in detail, it is clearly visible that the quotientsignal Q, again, is widely independent from the target size, in betweena target size of 1 mm to 25 mm. Thus, again, a unique relationshipbetween the quotient signal Q and the longitudinal coordinate z can bederived, for various target sizes, which may be used for evaluation.

The results shown in FIGS. 3 and 4 were derived experimentally, byvarying the named parameters and by measuring appropriate signals. Theresults, however, may also be derived analytically, semi-analytically orby modelling. Comparable results were obtained.

FIG. 5 shows, in a highly schematic illustration, an exemplaryembodiment of a detector 110, e.g. according to the embodiments shown inFIG. 1 or 2. The detector 110 specifically may be embodied as a camera146 and/or may be part of a camera 146. The camera 146 may be made forimaging, specifically for 3D imaging, and may be made for acquiringstandstill images and/or image sequences such as digital video clips.Other embodiments are feasible.

FIG. 5 further shows an embodiment of a detector system 134, which,besides the at least one detector 110, comprises one or more beacondevices 114, which, in this example, may be attached and/or integratedinto an object 112, the position of which shall be detected by using thedetector 110. FIG. 5 further shows an exemplary embodiment of ahuman-machine interface 148, which comprises the at least one detectorsystem 134 and, further, an entertainment device 150, which comprisesthe human-machine interface 148. The figure further shows an embodimentof a tracking system 152 for tracking a position of the object 112,which comprises the detector system 134. The components of the devicesand systems shall be explained in further detail below. FIG. 5 furthershows an exemplary embodiment of a scanning system 154 for scanning ascenery comprising the object 112, such as for scanning the object 112and/or for determining at least one position of the at least one object112. The scanning system 154 comprises the at least one detector 110,and, further, optionally, the at least one illumination source 136 aswell as, optionally, at least one further illumination source 136. Theillumination source 136, generally, is configured to emit at least oneillumination light beam 138, such as for illumination of at least onedot, e.g. a dot located on one or more of the positions of the beacondevices 114 and/or on a surface of the object 112. The scanning system154 may be designed to generate a profile of the scenery including theobject 112 and/or a profile of the object 112, and/or may be designed togenerate at least one item of information about the distance between theat least one dot and the scanning system 154, specifically the detector110, by using the at least one detector 110.

As outlined above, an exemplary embodiment of the detector 110 which maybe used in the setup of FIG. 5 is shown in FIGS. 1 and 2. Thus, thedetector 110, besides the optical sensors 118, 120, comprises at leastone evaluation device 132, having e.g. the at least one divider 142and/or the at least one position evaluation device 144, as symbolicallydepicted in FIG. 5. The components of the evaluation device 132 mayfully or partially be integrated into a distinct device and/or may fullyor partially be integrated into other components of the detector 110.Besides the possibility of fully or partially combining two or morecomponents, one or more of the optical sensors 118, 120 and one or moreof the components of the evaluation device 132 may be interconnected byone or more connectors 156 and/or by one or more interfaces, assymbolically depicted in FIG. 5. Further, the one or more connectors 156may comprise one or more drivers and/or one or more devices formodifying or preprocessing sensor signals. Further, instead of using theat least one optional connector 156, the evaluation device 132 may fullyor partially be integrated into one or both of the optical sensors 118,120 and/or into a housing 158 of the detector 110. Additionally oralternatively, the evaluation device 132 may fully or partially bedesigned as a separate device.

In this exemplary embodiment, the object 112, the position of which maybe detected, may be designed as an article of sports equipment and/ormay form a control element or a control device 160, the position ofwhich may be manipulated by a user 162. As an example, the object 112may be or may comprise a bat, a racket, a club or any other article ofsports equipment and/or fake sports equipment. Other types of objects112 are possible. Further, the user 162 himself or herself may beconsidered as the object 112, the position of which shall be detected.

As outlined above, the detector 110 comprises at least the opticalsensors 118, 120. The optical sensors 118, 120 may be located inside thehousing 158 of the detector 110. Further, the at least one transferdevice 128 is comprised, such as one or more optical systems, preferablycomprising one or more lenses.

An opening 164 inside the housing 158, which, preferably, is locatedconcentrically with regard to the optical axis 126 of the detector 110,preferably defines a direction of view 166 of the detector 110. Acoordinate system 168 may be defined, in which a direction parallel oranti-parallel to the optical axis 126 may be defined as a longitudinaldirection, whereas directions perpendicular to the optical axis 126 maybe defined as transversal directions. In the coordinate system 128,symbolically depicted in FIG. 5, a longitudinal direction is denoted byz, and transversal directions are denoted by x and y, respectively.Other types of coordinate systems 168 are feasible, such asnon-Cartesian coordinate systems.

The detector 110 may comprise the optical sensors 118, 120 as well as,optionally, further optical sensors. The optical sensors 118, 120preferably are located in one and the same beam path, one behind theother, such that the first optical sensor 118 covers a portion of thesecond optical sensor 120. Alternatively, however, a branched beam pathmay be possible, with additional optical sensors in one or moreadditional beam paths, such as by branching off a beam path for at leastone transversal detector or transversal sensor for determiningtransversal coordinates of the object 112 and/or of parts thereof.Alternatively, however, the optical sensors 118, 120 may be located atthe same longitudinal coordinate.

One or more light beams 116 are propagating from the object 112 and/orfrom one or more of the beacon devices 114, towards the detector 110.The detector 110 is configured for determining a position of the atleast one object 112. For this purpose, as explained above in thecontext of FIGS. 1 to 4, the evaluation device 132 is configured toevaluate sensor signals provided by the optical sensors 118, 120. Thedetector 110 is adapted to determine a position of the object 112, andthe optical sensors 118, 120 are adapted to detect the light beam 116propagating from the object 112 towards the detector 110, specificallyfrom one or more of the beacon devices 114. In case no illuminationsource 136 is used, the beacon devices 114 and/or at least one of thesebeacon devices 114 may be or may comprise active beacon devices with anintegrated illumination source such as a light-emitting diode. In casethe illumination source 136 is used, the beacon devices 114 do notnecessarily have to be active beacon devices. Contrarily, a reflectivesurface of the object 112 may be used, such as integrated reflectedbeacon devices 114 having at least one reflective surface such as amirror, retro reflector, reflective film, or the like. The light beam116, directly and/or after being modified by the transfer device 128,such as being focused by one or more lenses, illuminates thelight-sensitive areas 122, 124 of the optical sensors 118, 120. Fordetails of the evaluation, reference may be made to FIGS. 1 to 4 above.

As outlined above, the determination of the position of the object 112and/or a part thereof by using the detector 110 may be used forproviding a human-machine interface 148, in order to provide at leastone item of information to a machine 170. In the embodimentsschematically depicted in FIG. 5, the machine 170 may be a computerand/or may comprise a computer. Other embodiments are feasible. Theevaluation device 132 may even be fully or partially integrated into themachine 170, such as into the computer.

As outlined above, FIG. 5 also depicts an example of a tracking system152, configured for tracking the position of the at least one object 112and/or of parts thereof. The tracking system 152 comprises the detector110 and at least one track controller 172. The track controller 172 maybe adapted to track a series of positions of the object 112 at specificpoints in time. The track controller 172 may be an independent deviceand/or may be fully or partially integrated into the machine 170,specifically the computer, as indicated in FIG. 5 and/or into theevaluation device 132.

Similarly, as outlined above, the human-machine interface 148 may formpart of an entertainment device 150. The machine 170, specifically thecomputer, may also form part of the entertainment device 150. Thus, bymeans of the user 162 functioning as the object 112 and/or by means ofthe user 162 handling a control device 160 functioning as the object112, the user 162 may input at least one item of information, such as atleast one control command, into the computer, thereby varying theentertainment functions, such as controlling the course of a computergame.

In FIG. 6, a schematic view of a further embodiment of the detector 110for determining a position of at least one object 112 is depicted. Inthis case, the object 112 comprises the at least one beacon device 114,from which the light beam 116 propagates towards at least one sensorelement 115. The sensor element 115 comprises a matrix 117 of opticalsensors 113, each optical sensor 113 having at least one light-sensitivearea 121 facing the object 112. In this second preferred embodiment theoptical sensors 118, 120 may be arranged such that the light-sensitiveareas of the optical sensors 113 differ in spatial offset and/or surfaceareas. The light beam 116, as an example, may propagate along theoptical axis 126 of the detector 110. Other embodiments, however, arefeasible. The optical detector 110 comprises the at least one transferdevice 128, such as at least one lens and/or at least one lens system,specifically for beam shaping. Consequently, the light beam 116 may befocused, such as in one or more focal points 130, and a beam width ofthe light beam 116 may depend on the longitudinal coordinate z of theobject 112, such as on the distance between the detector 110 and thebeacon device 114 and/or the object 112. The transfer device 128constitutes the optical axis 129, wherein the transfer device 128 andthe optical detector preferably may have a common optical axis.Consequently, the light beam 116 is focused, such as in one or morefocal points 130, and a beam width of the light beam 116 may depend on alongitudinal coordinate z of the object 112, such as on a distancebetween the detector 110 and the beacon device 114 and/or the object112. The optical sensors 118, 120 are positioned off focus. For detailsof this beam width dependency on the longitudinal coordinate, referencemay be made to one or more of WO 2012/110924 A1 and/or WO 2014/097181A1.

As can be seen in FIG. 6, the light beam 116 generates a light spot 131on the matrix 117. In FIG. 8, an exemplary view of the light spot 131 onthe matrix 117 is shown. As can be seen, in this exemplary embodiment,the matrix 117 specifically may be a rectangular matrix, with rowsnumbered by “i”, from 1 to n, and with columns, denoted by “j”, from 1to m, with n, m being integers. The center of the light spot 131, inthis exemplary embodiment, is located in the sensor element denoted byi*, j*. The optical sensors 113 may provide sensor signals s_(u) to anevaluation device 132 which, out of the sensor signals, determines atleast one center signal, denoted symbolically by s_(i*j*). As outlinedin further detail above, for generating the center signal, theevaluation device 132 may comprise at least one center detector 133. Asan example, the center detector 133 simply may determine the maximumsensor signal out of the plurality of sensor signals generated by theoptical sensors 113. Alternative methods are feasible. Thus, as anexample, instead of determining a single maximum optical sensor signal,a plurality of sensor signals may be used for generating the centersignal. Thus, as an example, neighboring optical sensors which areadjacent to the optical sensor i*, j* may contribute to the centersignal, such as optical sensors with the coordinates i*−1, i*+1 andj*−1, j*+1. These coordinates, in the simple exemplary embodiment, mayform a square around the optical sensor i*, j*. Instead of a squarehaving a side length of 3, as in this embodiment, other environmentsaround the optical sensor having the highest sensor signal may be usedsuch as to optimize the signal to noise ratio of the detector signal andor of the distance information. Further, additionally or alternatively,the center signal may be generated by adding up and/or averaging oversensor signals within a certain range from the maximum sensor signalwhich may for example be beneficial to the measurement precisionconcerning noise such as pixel noise. Further, additionally oralternatively, for the determination of the center signal or sum signal,image processing techniques such as sub-pixel processing, interpolation,normalization or the like may be employed. Other alternatives arefeasible. The evaluation device 132 may be adapted to determine thecenter signal by integrating of the plurality of sensor signals, forexample the plurality of optical sensors around the optical sensorhaving the highest sensor signal. For example, the beam profile may be atrapezoid beam profile and the evaluation device 132 may be adapted todetermine an integral of the trapezoid, in particular of a plateau ofthe trapezoid. Further, when trapezoid beam profiles may be assumed, theevaluation device 132 may be adopted to determine the edge and centersignals by equivalent evaluations making use of properties of thetrapezoid beam profile such as determination of the slope and positionof the edges and of the height of the central plateau and deriving edgeand center signals by geometric considerations. Additionally oralternatively, the evaluation device 132 may be adapted to determine oneor both of center information or edge information from at least oneslice or cut of the light spot. This may be realized for example byreplacing the area integrals in the quotient signal Q by a lineintegrals along the slice or cut. For improved accuracy, several slicesor cuts through the light spot may be used and averaged. In case of anelliptical spot profile, averaging over several slices or cuts mayresult in an improved distance information.

Further, the evaluation device 132 is configured for determining atleast one sum signal out of the sensor signals of the matrix 117. Forthis purpose, the evaluation device 132 may comprise at least onesumming device 135. The summing device 135 may be configured for addingup, integrating or averaging over the sensor signals of the entirematrix 117, of a region of interest within the matrix 117, each optionwith or without the optical sensors from which the center signal isgenerated. Thus, in the exemplary embodiment shown in FIG. 8, thesumming device 135 is simply configured for summing over the sensorsignals s_(ij) of the entire matrix 117, except for the center opticaldetector with the coordinates i*, j*. Other options, however, arefeasible.

The evaluation device 132 may be adapted to determine the sum signal byintegrating of signals of the entire matrix 117, of the region ofinterest within the matrix 117. For example, the beam profile may be atrapezoid beam profile and the evaluation device 132 may be adapted todetermine an integral of the entire trapezoid.

The evaluation device 132 may be adapted to determine at least oneregion of interest within the matrix, such as one or more pixelsilluminated by the light beam which are used for determination of thelongitudinal coordinate of the object. For example, the evaluationdevice may be adapted to perform at least one filtering, for example atleast one object recognition method. The region of interest may bedetermined manually by a user or may be determined automatically, suchas by recognizing an object within an image generated by the opticalsensors.

The evaluation device 132 further is configured for forming at least onecombined signal out of the center signal and the sum signal. For thispurpose, the evaluation device 132, as an example, may comprise at leastone combining device 137, such as at least one divider 142. As a verysimple embodiment, a quotient Q may be formed, by dividing the centersignal by the sum signal or vice versa. Other options are feasible andare given above.

Finally, the evaluation device 132 is configured for determining atleast one longitudinal coordinate z of the object by evaluating thecombined signal. For this purpose, the evaluation device may comprise atleast one further component, such as at least one evaluation component,for example a position evaluation device 144. It shall be noted that thecomponents of the evaluation device 132 shown in FIG. 8 may fully orpartially be embodied in hardware and/or software. Further, thecomponents may fully or partially be embodied as independent or separatecomponents, and/or may fully or partially be embodied as componentswhich are integrated into the sensor element 115.

The embodiment of FIG. 8 further shows that, in addition to thelongitudinal coordinate z, at least one item of information on atransversal coordinate of the object 112 and/or the beacon device 114may be generated. Thus, the coordinates i* and j* provide additionalitems of information on a transversal position of the object 112 and/orthe beacon device 114. In the setup of FIG. 6, the beacon device 114,for the sake of simplicity, is positioned in the center, i.e. on theoptical axis 126, 129. In this case, the light spot 131 is likely to becentered in the middle of the matrix 117. In the embodiment shown inFIG. 8, however, as can easily be detected, the light spot 131 isoff-centered. This off-centering is characterized by the coordinates i*,j*. By using known optical relationships between this off-centering anda transversal position of the object 112 and/or the beacon device 114,such as by using the lens equation, at least one transversal coordinateof the object 112 and/or the beacon device 114 may be generated. Thisoption is also shown in the exemplary embodiment of FIG. 8.

In FIG. 7, a modification of the embodiment of FIG. 6 is shown, whichforms an alternative detector 110. The alternative embodiment of thedetector 110 widely corresponds to the embodiment shown in FIG. 6.Instead of using an active beacon device 114 with light-emittingproperties for generating the light beam 116, however, the detector 110itself comprises at least one illumination source 136. The illuminationsource 136, as an example, may comprise at least one laser, whereas, inFIG. 6, as an example, the beacon device 114 may comprise alight-emitting diode (LED). Other embodiments, however, are feasible.The illumination source 136 may be configured for generating at leastone illumination light beam 138 for fully or partially illuminating theobject 112. The illumination light beam 138 is fully or partiallyreflected by the object 112 and travels back towards the detector 110,thereby forming the light beam 116.

As shown in FIG. 7, as an example, the illumination light beam 138 maybe parallel to the optical axis 126 of the detector 110. Otherembodiments, i.e. off-axis illumination and/or illumination at an angle,are feasible, too. In order to provide an on-axis illumination, as shownin FIG. 7, as an example, one or more reflective elements 140 may beused, such as one or more prisms and/or mirrors, such as dichroiticmirrors, such as movable mirrors or movable prisms.

Apart from these modifications, the setup of the embodiment in FIG. 7corresponds to the setup in FIG. 6. Thus, again, an evaluation device132 may be used, having e.g. at least one divider 142 for forming thequotient signal Q, and, as an example, at least one position evaluationdevice 144, for deriving the at least one longitudinal coordinate z fromthe quotient signal Q and/or another type of combined signal. It shallbe noted that the evaluation device 132, again, may fully or partiallybe embodied in hardware and/or software. Thus, as an example, one ormore of components 133, 135, 137, 142, 144 may fully or partially beembodied by appropriate software components and/or may fully orpartially be embodied by hardware components.

The optical sensors 113 of the matrix 117, as an example, may be pixelsof a pixelated optical sensor, such as a CCD and/or a CMOS sensor chip.Thus, as an example, the optical sensors 113 may have a side lengthand/or an equivalent diameter in the range of a few micrometers toseveral hundred micrometers. It shall be noted, however, that largerpixels or optical sensors 113 may be used. Further, instead of using anintegrated sensor element 115 such as a CCD and/or CMOS sensor chip,non-integrated matrices may be used.

FIG. 9 shows, in a highly schematic illustration, an exemplaryembodiment of a detector 110, e.g. according to the embodiments in FIG.6 or 7. The detector 110, specifically, may be embodied as the camera146 and/or may be part of a camera 146. The camera 146 may be made forimaging, specifically for 3D imaging, and may be made for acquiringstandstill images and/or image sequences such as digital video clips.Other embodiments are feasible.

FIG. 9 further shows an embodiment of a detector system 134, which,besides the at least one detector 110, comprises one or more beacondevices 114, which, in this example, may be attached to and/orintegrated into an object 112, the position of which shall be detectedby using the detector 110. FIG. 9 further shows an exemplary embodimentof a human-machine interface 148, which comprises the at least onedetector system 134 and, further, an entertainment device 150, whichcomprises the human-machine interface 151. The figure further shows anembodiment of a tracking system 152 for tracking a position of theobject 112, which comprises the detector system 134. The components ofthe devices and systems shall be explained in further detail below.

FIG. 9 further shows an exemplary embodiment of a scanning system 154for scanning a scenery comprising the at least one object 112, such asfor scanning the object 112 and/or for determining at least one positionof the at least one object 112. The scanning system 154 comprises the atleast one detector 110 and, further, optionally, the at least oneillumination source 136 as well as, optionally, at least one furtherillumination source 136, which is not shown. The illumination source136, generally, may be configured to emit the at least one illuminationlight beam 138, such as for illumination of at least one dot, e.g. a dotlocated on one or more of the positions of the beacon devices 114 and/oron a surface of the object 112. It shall be noted, however, that anactive beacon device, as e.g. shown in the setup of FIG. 6, may also beused, and, thus, that setups with no integrated illumination source 136are also feasible. The scanning system 154 may be designed to generate aprofile of the scenery including the object 112 and/or a profile of theobject 112 and/or may be designed to generate at least one item ofinformation about the distance between the at least one dot and thescanning system 154, specifically the detector 110, by using the atleast one detector 110.

As outlined above, an exemplary embodiment of the detector 110 which maybe used in the setup of FIG. 9 is shown in FIGS. 6 and 7. Thus, thedetector 110, besides the sensor element 115, comprises the at least oneevaluation device 132, having, e.g., the at least one center detector133, the at least one summing device 135, the at least one combiningdevice 140, the at least one divider 142, the at least one positionevaluation device 144 and/or combinations thereof. These components,which may optionally be present, are symbolically depicted in FIG. 9.The components of the evaluation device 132 may fully or partially beintegrated into a distinct device and/or may fully or partially beintegrated into other components of the detector 110. Besides thepossibility of fully or partially combining two or more components, oneor more of the components of the evaluation device 132 and one or moreof the components of the sensor element 115 may be interconnected by oneor more connectors 156 and/or by one or more interfaces, as symbolicallydepicted in FIG. 9. Further, the one or more connectors 156 may compriseone or more drivers and/or one or more devices for modifying orpreprocessing sensor signals. Further, instead of using the at least oneoptional connector 156, the evaluation device 132 may fully or partiallybe integrated into one or both of the sensor element 115 and/or into ahousing 158 of the detector 110. Additionally or alternatively, theevaluation device 132 may fully or partially be designed as a separatedevice.

In this exemplary embodiment, the object 112, the position of which maybe detected, may be designed as an article of sports equipment and/ormay form a control element or a control device 160, the position ofwhich may be manipulated by a user 162. As an example, the object 112may be or may comprise a bat, a racket, a club or any other article ofsports equipment and/or fake sports equipment. Other types of objects112 are possible. Further, the user 162 himself or herself may beconsidered as the object 112, the position of which shall be detected.

As outlined above, the detector 110 comprises at least the sensorelement 115. The sensor 115, wherein one or more of the sensor elements115 may be provided, may be located inside the housing 158 of thedetector 110. Further, the at least one transfer device 128 iscomprised, such as one or more optical systems, preferably comprisingone or more lenses.

An opening 164 inside the housing 158, which, preferably, is locatedconcentrically with regard to the optical axis 126 of the detector 110,preferably defines a direction of view 166 of the detector 110. In thecoordinate system 168, symbolically depicted in FIG. 9, a longitudinaldirection is denoted by z, and transversal directions are denoted by xand y, respectively. Other types of coordinate systems 168 are feasible,such as non-Cartesian coordinate systems.

The detector 110 may comprise the sensor element 115 as well as,optionally, one or more further optical sensors. A non-branched beampath may be used or, alternatively, a branched beam path may bepossible, with, e.g., additional optical sensors in one or moreadditional beam paths, such as by branching off a beam path for at leastone transversal detector or transversal sensor for determining thetransversal coordinates of the object 112 and/or parts thereof. Asoutlined above, however, in the context of FIG. 8, the at least onetransversal coordinate may also be determined by the sensor element 115itself, such as by determining the transversal coordinates of the centerof the light spot 131.

One or more light beams 116 are propagating from the object 112 and/orfrom one or more of the beacon devices 114, towards the detector 110.The detector 110 is configured for determining a position of the atleast one object 112. For this purpose, as outlined above in the contextof FIGS. 6 to 8, the evaluation device 132 may be configured to evaluatethe sensor signals provided by the optical sensors 113 of the matrix 117of the sensor element 115. The detector 110 is adapted to determine aposition of the object 112, and the optical sensors 113 are adapted todetect the light beam 116 propagating from the object 112 towards thedetector 110, specifically from one or more of the beacon devices 114.In case no illumination source 136 is used, the beacon devices 114and/or at least one of these beacon devices 114 may comprise activebeacon devices with an integrated illumination source such aslight-emitting diodes. In case the illumination source 136 is used, thebeacon devices do not necessarily have to be active beacon devices.Contrarily, a reflective surface of the object 112 may be used, such asintegrated reflective beacon devices 114 having at least one reflectivesurface. The light beam 116, directly and/or after being modified by thetransfer device 128, such as being focused by one or more lenses,illuminates the sensor element 118. For details of the evaluation,reference may be made to FIGS. 6 to 8 above.

As outlined above, the determination of the position of the object 112and/or a part thereof by using the detector 110 may be used forproviding a human-machine interface 148, in order to provide at leastone item of information to a machine 170. In the embodimentsschematically depicted in FIG. 9, the machine 170 may be a computerand/or may comprise a computer. Other embodiments are feasible. Theevaluation device 132 may even be fully or partially integrated into themachine 170, such as into the computer.

As outlined above, FIG. 9 also depicts an example of a tracking system152, configured for tracking the position of the at least one object 112and/or of parts thereof. The tracking system 152 comprises the detector110 and at least one track controller 172. The track controller 172 maybe adapted to track a series of positions of the object 112 at specificpoints in time. The track controller 172 may be an independent deviceand/or may fully or partially be integrated into the machine 170,specifically the computer, as indicated in FIG. 9, and/or into theevaluation device 132.

Similarly, as outlined above, the human-machine interface 148 may formpart of an entertainment device 150. The machine 170, specifically thecomputer, may also form part of the entertainment device 150. Thus, bymeans of the user 162 functioning as the object 112 and/or by means ofthe user 162 handling a control device 160 functioning as the object112, the user 162 may input at least one item of information, such as atleast one control command, into the computer, thereby varying theentertainment functions, such as controlling the course of a computergame.

In FIG. 10, experimental data are shown which demonstrate an exemplaryembodiment of the present invention in terms of measurement data. Thefigure shows a quotient signal Q as a function of a longitudinalcoordinate z, given in millimeters, for various illuminationintensities.

In order to gain the experimental data shown in FIG. 10, an experimentalsetup was used with a sensor element 118 formed by a Basler AC 1920-40GCcamera, with a transfer device 128 formed by a Nikkor 50 mm lens.

As a beacon device 114, a light-emitting diode (LED) was used, having acentral nominal wavelength of 532 nm. A diffusor made from Teflon filmwas used in front of the LED and a diaphragm, in order to provide awell-defined light-emitting area having a diameter of 5 mm. Theintensity of the LED was varied, by varying a drive current of the LEDbetween 5 mA and 150 mA.

In the experiments, the distance z between the LED and the lens wasvaried from 300 mm to 1700 mm. The signal of the Basler AC 1920-40GCcamera was evaluated by the following procedure. As a center signal, anaccumulated signal of an inner circle having a radius of 15 pixelsaround the optical axis was determined, with the light spot centered atthe optical axis. As a sum signal, the sum of the signals of all pixelsof the camera within the light spot was generated. A quotient signal wasformed, by dividing the sum signal by the center signal.

In FIG. 10, the solid curves, overlapping, show the quotient signalcurves for LED currents of 150 mA, 125 mA, 100 mA and 50 mA. As can beseen, there are basically no differences between these curves, withinthe whole measurement range. This experiment clearly shows that thequotient signal is widely independent on the total power of the lightbeam. Only at lower intensities, the curves may be distinguished. Thus,the dotted curve shows measurements at an LED current of 25 mA, thedashed-dotted line at an LED current of 10 mA, and the dashed line at anLED current of 5 mA. Still, even at these low intensities, themeasurement curves are very close to the solid curves, which shows thehigh tolerances of the measurement.

In FIG. 11, a schematic view of a further embodiment of a detector 110for determining a position of at least one object 112 is depicted. Inthis case, the object 112 comprises the beacon device 114, from whichthe light beam 116 propagates towards the first optical sensor 118 andthe second optical sensor 120. The first optical sensor 118 may comprisea first light-sensitive area 122, and the second optical sensor 120comprises the second light-sensitive area 124. The optical sensors 118,120, as shown e.g. in FIG. 14, may be part of an array 174 of opticalsensors 176, such as the first optical sensor 118 being the opticalsensor 176 in the upper left corner of the array 174 and the secondoptical sensor 120 being the optical sensor 176 in the lower rightcorner of the array 174. Other choices are feasible. The array 174, asan example, may be a quadrant photodiode 178, and the optical sensors176 may be partial diodes of the quadrant photodiode 178.

The light beam 116, as an example, may propagate along an optical axis126 of the detector 110. Other embodiments, however, are feasible. Theoptical detector 110 comprises the at least one transfer device 128,such as at least one lens and/or at least one lens system, specificallyfor beam shaping. Consequently, the light beam 116 may be focused, suchas in one or more focal points 130, and a beam width of the light beam116 may depend on the longitudinal coordinate z of the object 112, suchas on the distance between the detector 110 and the beacon device 114and/or the object 112. The optical sensors 118, 120 are positioned offfocus. In this third preferred embodiment the optical sensors 118, 120may be arranged such that the light-sensitive areas of the opticalsensors differ in their spatial offset and/or their surface areas. Fordetails of this beam width dependency on the longitudinal coordinate,reference may be made to one or more of WO 2012/110924 A1 and/or WO2014/097181 A1.

As can be seen in FIG. 14, the setup of the detector 110 is off-centeredin various ways. Thus, a geometrical center 180 of the array 174 may beoff-centered from the optical axis 126, 129 by offset d₀. Further, ageometrical center 182 of the first optical sensor 118 is off-centeredfrom the optical axis 126 by offset d₁, and a geometrical center 184 ofthe second optical sensor 120 is off-centered from the optical axis 126by offset d₂, wherein d₁≠d₂. In other words, a light spot 186 is formed,which is unequally distributed over the light-sensitive areas 122, 124.

As will be shown in further detail below, the detector 110 may beconfigured for automatically establishing the off-centered position ofthe light spot 186 on the array 174. For this purpose, firstly, thedetector 110 may be configured for determining whether the sensorsignals generated by the optical sensors 176 of the array 174 are equal.If this should be the case, the detector 110 may be configured todetermine that the light spot 186 is centered in the array 174 and,consequently, may shift the light spot 186 out of the geometrical center180 of the array 174, such as by shifting the whole array 174 in a planeperpendicular to the optical axis 126, 129. For this purpose, as will beshown in further detail below with respect to FIG. 13, one or moreactuators may be provided in the detector 110.

Turning back to the setup of FIG. 11, the first optical sensor 118, inresponse to the illumination by the light beam 116, generates a firstsensor signal s₁, whereas the second optical sensor 120 generates asecond sensor signal s₂. Preferably, the optical sensors 118, 120 arelinear optical sensors, i.e. the sensor signals s₁ and s₂ each aresolely dependent on the total power of the light beam 116 or of theportion of the light beam 116 illuminating their respectivelight-sensitive areas 122, 124, whereas these sensor signals s₁ and s₂are independent from the actual size of the light spot of illumination.In other words, preferably, the optical sensors 118, 120 do not exhibitthe above-described FiP effect.

The sensor signals s₁ and s₂ are provided to an evaluation device 132 ofthe detector 110. The evaluation device 110, as symbolically shown inFIG. 1, may specifically be embodied to derive a quotient signal Q, asexplained above. The quotient signal Q, derived by dividing the sensorsignals s₁ and s₂ or multiples or linear combinations thereof, may beused for deriving at least one item of information on a longitudinalcoordinate z of the object 112 and/or the beacon device 114, from whichthe light beam 116 propagates towards the detector 110, as will beexplained in further detail with reference to the corrosion signalsshown in FIGS. 16 to 18 below.

The detector 110, in combination with the at least one beacon device114, may be referred to as the detector system 134, as will be explainedin further detail below with reference to FIG. 13.

In FIG. 12, a modification of the embodiment of FIG. 11 is shown, whichforms an alternative detector 110. The alternative embodiment of thedetector 110 widely corresponds to the embodiment shown in FIG. 11.Instead of using an active light source, i.e. a beacon device 114 withlight-emitting properties for generating the light beam 116, however,the detector 110 comprises the at least one illumination source 136. Theillumination source 136, as an example, may comprise a laser, whereas,in FIG. 11, as an example, the beacon device 114 may comprise alight-emitting diode (LED). The illumination source 136 may beconfigured for generating at least one illumination light beam 138 forilluminating the object 112. The illumination light beam 138 is fully orpartially reflected by the object 112 and travels back towards thedetector 110, thereby forming the light beam 116. The illuminationsource 136, as an example, may comprise one or more diaphragms 190, suchas an adjustable diaphragm 190, e.g. an adjustable iris diaphragm and/ora pin hole.

The setup shown in FIG. 12, as an example, may also be used in or as areadout device 192 for optical storage media. Thus, as an example, theobject 112 may be an optical storage medium such as in optical storagediscs, e.g. a CCD, DVD or Blu-ray disc. By measuring the presence ornon-presence of data storage modules and the depth of the same withinthe object 112, by using the above-mentioned measurement principle, adata readout may take place.

The light beam 116, specifically, may travel along the optical axis 126of the detector 110. As shown in FIG. 12, as an example, theillumination light beam 138 may be parallel to the optical axis 126 ofthe detector 110. Other embodiments, i.e. off-axis illumination and/orillumination at an angle, are feasible, too, as will be shown in thecontext of FIGS. 19A and 19B below. In order to provide an on-axisillumination, as shown in FIG. 12, as an example, one or more reflectiveelements 140 may be used, such as one or more prisms and/or mirrors,such as dichroitic mirrors, such as movable mirrors or movable prisms.

Apart from these modifications, the setup of the embodiment in FIG. 12corresponds to the setup in FIG. 11. Thus, again, an evaluation device132 may be used, having, e.g., at least one divider 142 for forming thequotient signal Q, and, as an example, at least one position evaluationdevice 144, for deriving the at least one longitudinal coordinate z fromthe at least one quotient signal Q. It shall be noted that theevaluation device 132 may fully or partially be embodied in hardwareand/or software. Thus, as an example, one or more of components 142, 144may be embodied by appropriate software components.

It shall further be noted that the embodiments shown in FIGS. 11 and 12simply provide embodiments for determining the longitudinal coordinate zof the object 112. It is also feasible, however, to modify the setups ofFIGS. 11 and 12 to provide additional information on a transversalcoordinate of the object 112 and/or of parts thereof. As an example,e.g. in between the transfer device 128 and the optical sensors 118,120, one or more parts of the light beam 116 may be branched off, andmay be guided to a position-sensitive device such as one or more CCDand/or CMOS pixelated sensors and/or additional quadrant detectorsand/or other position sensitive devices, which, from a transversalposition of a light spot generated thereon, may derive a transversalcoordinate of the object 112 and/or of parts thereof. For furtherdetails, as an example, reference may be made to one or more of theabove-mentioned prior art documents which provide for potentialsolutions of transversal sensors.

FIG. 13 shows, in a highly schematic illustration, an exemplaryembodiment of a detector 110, e.g. according to the embodiments shown inFIG. 11 or 12. The detector 110 specifically may be embodied as a camera146 and/or may be part of a camera 146. The camera 146 may be made forimaging, specifically for 3D imaging, and may be made for acquiringstandstill images and/or image sequences such as digital video clips.Other embodiments are feasible.

FIG. 13 further shows an embodiment of a detector system 134, which,besides the at least one detector 110, comprises one or more beacondevices 114, which, in this example, may be attached and/or integratedinto an object 112, the position of which shall be detected by using thedetector 110. FIG. 13 further shows an exemplary embodiment of ahuman-machine interface 148, which comprises the at least one detectorsystem 134 and, further, an entertainment device 150, which comprisesthe human-machine interface 148. The figure further shows an embodimentof a tracking system 152 for tracking a position of the object 112,which comprises the detector system 134. The components of the devicesand systems shall be explained in further detail below.

FIG. 13 further shows an exemplary embodiment of a scanning system 154for scanning a scenery comprising the object 112, such as for scanningthe object 112 and/or for determining at least one position of the atleast one object 112. The scanning system 154 comprises the at least onedetector 110, and, further, optionally, the at least one illuminationsource 136 as well as, optionally, at least one further illuminationsource 136. The illumination source 136, generally, is configured toemit at least one illumination light beam 138, such as for illuminationof at least one dot, e.g. a dot located on one or more of the positionsof the beacon devices 114 and/or on a surface of the object 112. Thescanning system 154 may be designed to generate a profile of the sceneryincluding the object 112 and/or a profile of the object 112, and/or maybe designed to generate at least one item of information about thedistance between the at least one dot and the scanning system 154,specifically the detector 110, by using the at least one detector 110.

As outlined above, an exemplary embodiment of the detector 110 which maybe used in the setup of FIG. 13 is shown in FIGS. 11 and 12 or will beshown, as an alternative embodiment, in FIG. 15 below. Thus, thedetector 110, besides the optical sensors 118, 120, comprises at leastone evaluation device 132, having e.g. the at least one divider 142and/or the at least one position evaluation device 144, as symbolicallydepicted in FIG. 13. The components of the evaluation device 132 mayfully or partially be integrated into a distinct device and/or may fullyor partially be integrated into other components of the detector 110.Besides the possibility of fully or partially combining two or morecomponents, one or more of the optical sensors 118, 120 and one or moreof the components of the evaluation device 132 may be interconnected byone or more connectors 156 and/or by one or more interfaces, assymbolically depicted in FIG. 15. Further, the one or more connectors156 may comprise one or more drivers and/or one or more devices formodifying or preprocessing sensor signals. Further, instead of using theat least one optional connector 156, the evaluation device 132 may fullyor partially be integrated into one or both of the optical sensors 118,120 and/or into a housing 158 of the detector 110. Additionally oralternatively, the evaluation device 132 may fully or partially bedesigned as a separate device.

In FIG. 13, as an example, one or more reflective elements 140 may beused, for example partially transparent, such as one or more prismsand/or mirrors, such as dichroitic mirrors, such as movable mirrors ormovable prisms.

The detector 110 as symbolically shown in the exemplary embodiment ofFIG. 13 may also comprise at least one actuator 188 for moving the array174 of the optical sensors 176 relative to the optical axis 126. Asoutlined above, for providing this movement, the optical axis 126 may bemoved in relation to the array 174 by moving the optical axis 126, bymoving the array 174 or both. Thus, as an example, the optical axis maybe moved by using one or more of deflecting elements and/or by using thetransfer device 128. As a simple example, a lens of the transfer device128 may be tilted, such as by using one or more actuators 188 (notdepicted). Additionally or alternatively, the array 174 may be shiftedby the one or more actuators 188, preferably in a plane perpendicular tothe optical axis 126. As an example, one or more electromechanicalactuators may be used, such as one electromechanical actuator for anx-direction and another electromechanical actuator for a y-direction.Other embodiments are feasible. Thereby, the above-mentionedoff-centering procedure may be implemented for establishing anoff-centered situation as shown e.g. in FIG. 14.

In the exemplary embodiment shown in FIG. 13, further, the object 112,the position of which may be detected, may be designed as an article ofsports equipment and/or may form a control element or a control device160, the position of which may be manipulated by a user 162. As anexample, the object 112 may be or may comprise a bat, a racket, a clubor any other article of sports equipment and/or fake sports equipment.Other types of objects 112 are possible. Further, the user 162 himselfor herself may be considered as the object 112, the position of whichshall be detected.

As outlined above, the detector 110 comprises at least the opticalsensors 176, including at least the first optical sensor 118 and thesecond optical sensor 120. The optical sensors 176 may be located insidethe housing 158 of the detector 110. Further, the at least one transferdevice 128 is comprised, such as one or more optical systems, preferablycomprising one or more lenses.

An opening 164 inside the housing 158, which, preferably, is locatedconcentrically with regard to the optical axis 126 of the detector 110,preferably defines a direction of view 166 of the detector 110. In thecoordinate system 128, symbolically depicted in FIG. 15, a longitudinaldirection is denoted by z, and transversal directions are denoted by xand y, respectively. Other types of coordinate systems 168 are feasible,such as non-Cartesian coordinate systems.

The detector 110 may comprise the optical sensors 118, 120 as well as,optionally, further optical sensors. The optical sensors 118, 120preferably are located in one and the same beam path, one behind theother, such that the first optical sensor 118 covers a portion of thesecond optical sensor 120. Alternatively, however, a branched beam pathmay be possible, with additional optical sensors in one or moreadditional beam paths, such as by branching off a beam path for at leastone transversal detector or transversal sensor for determiningtransversal coordinates of the object 112 and/or of parts thereof.

One or more light beams 116 are propagating from the object 112 and/orfrom one or more of the beacon devices 114, towards the detector 110.The detector 110 is configured for determining a position of the atleast one object 112. For this purpose, as explained above in thecontext of FIGS. 11, 12 and 14, the evaluation device 132 is configuredto evaluate sensor signals provided by the optical sensors 118, 120. Thedetector 110 is adapted to determine a position of the object 112, andthe optical sensors 118, 120 are adapted to detect the light beam 116propagating from the object 112 towards the detector 110, specificallyfrom one or more of the beacon devices 114. In case no illuminationsource 136 is used, the beacon devices 114 and/or at least one of thesebeacon devices 114 may be or may comprise active beacon devices with anintegrated illumination source such as a light-emitting diode. In casethe illumination source 136 is used, the beacon devices 114 do notnecessarily have to be active beacon devices. Contrarily, a reflectivesurface of the object 112 may be used, such as integrated reflectivebeacon devices 114 having at least one reflective surface. The lightbeam 116, directly and/or after being modified by the transfer device128, such as being focused by one or more lenses, illuminates thelight-sensitive areas 122, 124 of the optical sensors 118, 120. Fordetails of the evaluation, reference may be made to FIGS. 11, 12 and 14above.

As outlined above, the determination of the position of the object 112and/or a part thereof by using the detector 110 may be used forproviding a human-machine interface 148, in order to provide at leastone item of information to a machine 170. In the embodimentsschematically depicted in FIG. 13, the machine 170 may be a computerand/or may comprise a computer. Other embodiments are feasible. Theevaluation device 132 may even be fully or partially integrated into themachine 170, such as into the computer.

As outlined above, FIG. 13 also depicts an example of a tracking system152, configured for tracking the position of the at least one object 112and/or of parts thereof. The tracking system 152 comprises the detector110 and at least one track controller 172. The track controller 172 maybe adapted to track a series of positions of the object 112 at specificpoints in time. The track controller 172 may be an independent deviceand/or may be fully or partially integrated into the machine 170,specifically the computer, as indicated in FIG. 13 and/or into theevaluation device 132.

Similarly, as outlined above, the human-machine interface 148 may formpart of an entertainment device 150. The machine 170, specifically thecomputer, may also form part of the entertainment device 150. Thus, bymeans of the user 162 functioning as the object 112 and/or by means ofthe user 162 handling a control device 160 functioning as the object112, the user 162 may input at least one item of information, such as atleast one control command, into the computer, thereby varying theentertainment functions, such as controlling the course of a computergame.

In the setup of the detectors 110 as shown in FIGS. 11, 12 and 13, theoptical sensors 176 are part of an array 174, and all optical sensors176 may be located in one and the same plane oriented essentiallyperpendicular to the optical axis 126. As noted in this context, whenmentioning “perpendicular” or “essentially perpendicular”, preferably, a90° orientation is given. However, tolerances may be present, such asangular tolerances of no more than 20°, preferably of no more than 10°or more preferably of no more than 5°. The optical sensors 176, however,not necessarily have to be located in an array 174 and not necessarilyhave to be located in one and the same plane, as is shown in analternative setup of the detector 110 shown in FIG. 15. In this figure,only the optical components are shown. For other components, referencemay be made to FIGS. 11, 12 and 13 above.

As can be seen, in this alternative setup, two or more optical sensors176 are present, comprising at least one first optical sensor 118 and atleast one second optical sensor 120 located in different planes whichare offset in a direction of the optical axis 126, also referred to asthe z-direction. Thus, further, as can also be seen, the optical sensors118, 120 may overlap, whereas in the previous embodiments, preferably,no overlap between the optical sensors 176 is given. Apart from thesemodifications, the functionality and the evaluation of the sensorsignals generally corresponds to the embodiment of FIGS. 11, 12 and 13above.

As discussed above, for evaluating the at least two sensor signals ofthe at least two optical sensors 176 and for deriving an information onthe longitudinal position of the object 112 thereof, such as a distancebetween the detector 110 and the object 112 and/or a z-coordinate of theobject 112, preferably, at least one combined sensor signal is generatedby the evaluation device 132. The combined sensor signal, as long asthis combined sensor signal provides, at least over a measurement range,a unique function of the distance, may be used for deriving thelongitudinal coordinate. As an example, the combined sensor signal maybe or may comprise at least one quotient signal Q. In FIGS. 16 to 18,quotient signals Q of two sensor signals of two optical sensors 176 areshown under various measurement conditions. In each case, the quotientsignal Q is denoted on the vertical axis, as a function of thelongitudinal coordinate z of the object 112 on the horizontal axis, thelatter given in centimeters.

In all experiments, a setup as shown in FIG. 12 was used. As anillumination source 136, in the experiments of FIGS. 16 and 17, a 980 nmPicotronic laser source was used, in conjunction with a lens having afocal length of 100 mm. In the experiment of FIG. 18, a Laser Componentslaser light source having a wavelength of 850 nm was used, inconjunction with a lens having a focal length of 79 mm. In allexperiments, the laser beam was aligned on the optical axis 126 via asmall prism in front of the lens 128, forming a reflective element 140.A diaphragm 190 in front of the laser source was used to vary the spotsize. The quadrant diode 178 was used to measure the reflection of thelaser source on different materials. In all experiments, the distancedependency is given by the quotient Q of two adjacent quadrant currents.

In FIG. 16, the laser power was varied during the experiment, from 8 nAlaser current, denoted by the dotted line, to 106 nA, denoted by thesolid line. Therein, since the laser current typically does not providea measure for the laser intensity, the laser current indicated thereinis a current of a silicon photodetector in a measurement setup in whichthe laser illuminates a white sheet of paper at a distance of 330 mmfrom the lens. As is clearly visible, the curves are nearly identicaland, at least within this range of variation of the laser power, do notsignificantly depend on the laser power. This experiment shows that thequotient signal provides a reliable and monotonous function of thelongitudinal coordinate, independent from the influence of thebrightness of the illumination source.

In FIG. 17, a spot size of the illumination source 136 was varied, byvarying the open diameter of the diaphragm 190 in front of the laser.The spot size was varied from 1.5 mm, denoted by the dotted line, to 3.5mm, denoted by the solid line, in steps of 0.5 mm. As can be seen, up toa distance of approximately 200 cm, the quotient signal Q does notdepend on the spot size and, thus, again, is not negatively affected bythis variation.

In FIG. 18, a material of the object 112 illuminated by the laser beamwas varied. Therein, the dotted line denotes white paper, the dashedline with the smallest dashes denotes black paper, the dashed line withthe medium dashes denotes wood, and the dashed line with the largestdashes denotes an aluminum plate. As can be seen, at least up to ameasurement range of approximately 250 cm, the experiment does notstrongly depend on the type of material used for the object 112.

The experiments shown in FIGS. 16 to 18, thus, clearly demonstrate thatthe quotient signal Q provides a reliable function of the distance. Atleast within a range of measurement, the function monotonously riseswith the distance. The function is not strongly influenced by the mostsignificant variations which may occur in real life measurements, suchas the brightness of the illumination source, the spot size of theillumination source or the material of the object 112. Thus, byevaluating the quotient signal Q of two or more optical sensors 176,reliable distance information may be generated. Thus, as an example, thecurves shown in FIGS. 16 to 18 directly may be used as calibrationcurves for the purpose of the evaluation device 132. Other evaluationmethods, however, are feasible.

In FIGS. 19A and 19B, an alternative embodiment of the detector 110 isshown which is a modification of the setup shown in FIG. 2. Thus, formost elements and optional details as well as further elements not shownin the schematic FIGS. 19A and 19B, reference may be made to thedescription of FIG. 12 above.

In FIG. 12, the illumination light beam 138, as discussed above,preferably travels along the optical axis 126, i.e. parallel to theoptical axis 126 or even on the optical axis 126. In the setup, theposition of the center of the light spot 186 typically does not dependon the z-coordinate of the object 112, such as on a distance between theobject 112 and the detector 110. In other words, the diameter orequivalent diameter of the light spot 186 changes with the distancebetween the object 112 and the detector 110 whereas, typically, theposition of the light spot 186 on the array 174 does not.

Contrarily, in FIGS. 19A and 19B, a setup of the detector 110 is shownin which an illumination light beam 138 travels off-axis, i.e. one orboth of at an angle other than 0° with the optical axis 126 or parallelto the optical axis 126 but shifted from the optical axis 126. Thisembodiment, as will be discussed in further detail below, demonstratesthat the method according to the present invention can be furtherenhanced by increasing the z-dependency of a combined sensor signal.Thus, in FIG. 19A, a side view is shown with two different positions ofthe object 112, i.e. a first position at z₁, drawn in solid lines, and asecond position at z₂, drawn in dashed lines. As can be seen, theillumination light beam 138 which, as an example, propagates at an angleof 5° to 30°, e.g. 10° to 20°, with the optical axis 126, hits theobject 112 in both cases at different positions. From these points ofthe object 112 illuminated by the illumination light beam 138, lightbeams 116 propagate towards the detector 110, wherein, again, the lightbeam 116 for the object 112 being located at position z₁ is drawn insolid lines, wherein the light beam 116 for the object 112 being locatedat position z₂ is drawn in dashed lines.

In FIG. 19B, the array 174, e.g. a quadrant photodiode, is shown in anenlarged fashion. As can be seen in this setup, the position of thelight spot 186 moves with the longitudinal position z of the object 112.Thus, not only is the size of the light spot 186 affected by thelongitudinal position z but also is the position on the array 174 of thelight spot 186 changed. In FIG. 19B, this movement of the light spot 186is denoted by arrow z.

Consequently, by this movement of the light spot 186, the z-dependencyof a combined sensor signal taking into account at least two sensorsignals of the optical sensors 176 may be increased. As an example, thefour diodes of the array 174, in FIG. 19B, are denoted by D1-D4. Thequotient signal Q, as an example, may be formed as Q=i(D1)/i(D4), withi(D1) being the sensor signal of photodiode D1, and i(D4) being thesensor signal of photodiode D4. As shown in FIG. 19B, the quadrant diodemay comprise two dividing lines. The dividing lines may be arrangedorthogonal to each other. The orthogonal arrangement of the dividinglines allows adjusting of the quotient signal for near field and farfield applications independently from each other. In addition todetermining the quotient signal of sensor signals of two optical sensorsof the quadrant diode, the evaluation device 132 may be adapted todetermine a second quotient using at least three or all four sensorsignals of the quadrant diode. The two quotients can be formed such thattwo distinct distance ranges are covered. The two quotient signals forthe near field and far field may have an overlap region in which bothquotients allow obtaining reasonable determination of the longitudinaldistance z. For example, the quotient may be determined byQ=i(D1+D2)/i(D3+D4), wherein the sensor signals of the two topquadrants, also called top segment, are divided by the sensor signals ofthe two bottom quadrants, also called bottom segment. Using the quotientof sensor signals determined by two sensor areas which have a dividingline parallel to the baseline of the detector may allow determining ofthe quotient without any distance dependent movement of the light spot.In particular, as an example, if the dividing line between top andbottom segment is parallel to the baseline, the quotient signaldetermined from the top segment divided by the bottom segment may beused in the near field, wherein the light spot may illuminate only oneof a left or right segment of the quadrant diode. In this casedetermining the quotient signal by dividing sensor signals of the leftand right segments may not be possible. However, determining thequotient by dividing the sensor signals of top and bottom segments mayprovide a reasonable distance measurement. The quotient signaldetermined by dividing sensor signals of the left and right segments,i.e. Q=i(D1+D3)/i(D2+D4), may be used for far field measurement, whereinthe light spot illuminates both left and right segments. Furthermore,the evaluation device may be adapted to determine the quotient bydividing sensor signals of opposing segments or neighboring segments.The evaluation device may be adapted to combine the acquired sensorsignals i(D1), i(D2), i(D3) and i(D4) of the quadrants such thatdistance measurement is possible over a wide range with a largeresolution.

In the situation shown in FIG. 12, the position of the light spot 186does not depend on z. With a change in z, depending on the opticalsituation, the spot will become larger or smaller, such as by becomingmore diffuse or more focused. In case the spot size increases and thespot becomes more diffuse, i(D4) will increase more rapidly than i(D1),such that the quotient signal Q decreases.

Contrarily, in the situation of FIG. 19A, both the size and the positionof the light spot 186 are dependent on the z-coordinate. Thus, thetendency of the z-dependency of the combined sensor signal such as thequotient signal Q will be increased. In the situation of FIG. 12,depending on the z-coordinate, the sensor signal of at least one sensorwill increase and simultaneously the sensor signal of at least onedifferent sensor will decrease, resulting in the z-dependent quotientsignal Q. In the situation of FIG. 19A, the position dependency of thelight spot 186 can result in three different situations depending on therelative position of light source, optical axis, and sensor: Firstly,the position dependency of the light spot 186 may result in a furtherdecrease of the at least one decreasing sensor signal depending on thez-coordinate, while, simultaneously, the position dependency of thelight spot 186 may result in a further increase of the at least onedecreasing sensor signal depending on the z-coordinate compared to thesituation in FIG. 12. Secondly, the position dependency of the lightspot 186 may result in a reduced decrease or even increase of the atleast one decreasing sensor signal depending on the z-coordinate, while,simultaneously, the position dependency of the light spot 186 may resultin a reduced increase or even decrease of the at least one decreasingsensor signal depending on the z-coordinate compared to the situation inFIG. 12. Thirdly, the position dependency of the light spot 186 may beas such that the z-dependence of the sensor signals is largely unchangedcompared to the situation in FIG. 12. However, according to the presentinvention, object distance is not determined from the position of thelight spot 186 on a sensor as done in triangulation methods. Instead,movement of the light spot 186 on the array 174 may be used to enhancedynamic of the sensor signals and or the resulting quotient signal Qwhich may result in an enhanced dynamic of the z-dependency.Furthermore, movement of the light spot 186 on the array 174 duringmeasurement may be used to establish and/or to enhance object sizeindependence for the whole measurement range by suitable relativepositioning of the optical sensor 176 and the illumination source 136.Thus, movement of the light spot 186 may not be used for the purpose oftriangulation but for the purpose of object size independence.

Additionally, as known from the prior art, the sensor signals i(D1),i(D2), i(D3), i(D4) may also be used for determining a transversalposition x, y of the object 112. Further, the sensor signals may also beused for verifying the z-coordinate determined by the present invention.

FIG. 19C shows a comparison of two experimental setups using a detectorsetup according to FIG. 19A with a Bi-cell as optical sensors 176 withtwo light sensitive areas. In a first experimental setup, depending onthe relative position of the illumination light source, the optical axisand the sensor, the light spot 186 may move in parallel to the linearboundary of the two optical sensors 176 of the Bi-cell along a directionof movement 210 in dependence of the object distance. Since thedirection of movement 210 of the light spot 186 is in parallel to thelinear boundary of the two light sensitive areas in dependence of theobject distance, the resulting sensor signals are identical to asituation with no movement of the light spot 186 depending on objectdistance as shown in FIG. 12. In a second experimental setup, dependingon the relative position of the illumination light source, the opticalaxis and the sensor, the light spot 186 may move as such that thedistance of the center of the light spot 186 to the boundary of the twooptical sensors 176 of the Bi-cell changes in dependence of the objectdistance such as a movement orthogonal to the boundary of the twooptical sensors 176 such as a movement along a direction of movement 208in dependence of the object distance. The detector setup allowingmovement of the light spot 186 may be a modification of the setup shownin FIG. 19A. Thus, for most elements and optional details as well asfurther elements, reference may be made to the description of FIG. 19Aabove. In FIG. 19C, the optical sensors 176 may be a bi-cell diode.

FIG. 19D shows experimental results of the comparison of the twoexperimental setups using a detector setup according to FIG. 19A,allowing movement of the light spot 186 according to FIG. 19C withmovement of the light spot depending on the object distance alongdirections of movement 210 and 208. Curve 212 shows the dependency ofquotient Q on the longitudinal coordinate z for the detector setupallowing movement of the light spot 186 along a direction of movement210 as shown in FIG. 19C which is in parallel to the boundary of theoptical sensors of the Bi-Cell and, which is a situation equivalent toFIG. 12 without a movement of the light spot depending on the objectdistance. Curve 214 shows the dependency of quotient Q on thelongitudinal coordinate z for the detector setup according to FIG. 19Aand using a detector setup allowing movement of the light spot 186 withmovement of the light spot 186 according to FIG. 19C with movement ofthe light spot depending on the object distance along a direction ofmovement 208. The experimental setup was as follows: The optical sensors176 may be a bi-cell diode, in particular a Si—Bi-Cell. The illuminationsource 136 may be a 950 nm laser with a spot size of 4 mm. The transferdevice 128 may have a focal length of 20 mm, e.g. a lens available asThorlabs Asphere, f=20 mm. The distance of the object 112 was variedfrom 0 to 3000 mm. Determination of the longitudinal coordinate z may bepossible without allowing movement of the light spot 186. In particular,according to the present invention, movement of the light spot may notbe essential for determination of the longitudinal coordinate z. Withthe detector setup allowing movement of the light spot 186 along adirection 210 or without any movement determination of object distanceis possible at very small distance, whereas with movement along adirection 208 determination of object distance is possible for objectdistance such as distances greater than 500 mm.

FIG. 19E shows object independence of the two experimental setups usinga detector setup according to FIG. 19A, allowing movement of the lightspot 186 according to FIG. 19C with movement of the light spot dependingon the object distance along directions of movement 208 and 210. Inaddition, for both experimental setups, the object size was varied from1 mm (dashed line), 2 mm (dotted line), 6 mm (solid line) and 12 mm(loosely dotted line) by varying the aperture of the laser illuminationsource. Set of curves 216 shows dependency of quotient Q on thelongitudinal coordinate z for the experimental setup allowing movementof the light spot 186 along a direction 208. Set of curves 218 showsdependency of quotient Q on the longitudinal coordinate z for theexperimental setup allowing movement of the light spot 186 along adirection 210 or without any movement. Set of curves 216 show only smalldeviations, in particular less than 5%, whereas set of curves 218 showlarger deviations, in particular with increasing distance z. Thus,movement of the light spot 186 on the array 174 during measurement maybe used to establish and/or to enhance object size independence for thewhole measurement range by suitable relative positioning of the opticalsensor 176 and the illumination source 136.

In FIG. 20, a schematic view of a further embodiment of a detector 1110for determining a position of at least one object 1112 is depicted. Inthis case, the object 1112 may comprise a beacon device 1114, from whicha light beam 1116 propagates towards a first optical sensor 1118 and asecond optical sensor 1120. The first optical sensor 1118 comprises afirst light-sensitive area 1122, and the second optical sensor 1120comprises a second light-sensitive area 1124. Details of the secondoptical sensor 1120 and the second light-sensitive area 124 will beexplained in further detail below, with reference to FIGS. 22A, 22B and23.

It shall be noted therein, that, in the embodiment shown in FIG. 20, thefirst optical sensor 1118 is positioned in front of the second opticalsensor 1120, such that the light beam 1116 reaches the first opticalsensor 1118 before the second optical sensor 1120. As discussed above,however, another order is feasible. Thus, as an example, the secondoptical sensor 1120 may be positioned in front of the first opticalsensor 1118. The latter option, which is not depicted herein, isspecifically possible in case the second light-sensitive area 1124 isfully or partially transparent, such as by providing a transparentfluorescent waveguiding sheet 1174, as will be outlined in furtherdetail below.

The light beam 1116, as an example, may propagate along an optical axis1126 of the detector 1110. Other embodiments, however, are feasible.

The detector 1110, further, may comprise at least one transfer device1128, such as at least one lens or a lens system, specifically for beamshaping. Consequently, the light beam 1116 may be focused, such as inone or more focal points 1130, and a beam width of the light beam 1116may depend on a longitudinal coordinate z of the object 1112, such as ona distance between the detector 1110 and the beacon device 1114 and/orthe object 1112. For details of this beam width dependency on thelongitudinal coordinate, reference may be made to one or more of WO2012/110924 A1 and/or WO 2014/097181 A1.

As can be seen in FIG. 20, the first optical sensor 1118 is a smalloptical sensor, whereas the second optical sensor 1120 is a largeoptical sensor. Thus, the width of the light beam 1116 fully may coverthe first light-sensitive area 1122, whereas, on the secondlight-sensitive area 1124, a light spot is generated which is smallerthan the light-sensitive area 1124, such that the light spot is fullylocated within the second light-sensitive area 1124. Possibleembodiments will be explained below with reference to FIG. 23. Thus, asan example, the first light-sensitive area 1122 may have a surface areaof 10 mm² to 100 mm², whereas the second light-sensitive area 1124 mayhave a surface area of more than 100 mm², such as 200 mm² or more, e.g.200 to 600 mm² or 500 mm² or more. Other embodiments, however, arefeasible.

The first optical sensor 1118, in response to the illumination by thelight beam 1116, may generate a first sensor signal s₁, and the secondoptical sensor 1120 may generate at least one second sensor signal s₂.As an example, the first optical sensor 1118 may be a linear opticalsensor, i.e. the sensor signal s₁ is dependent on the total power of thelight beam 1116 or on the portion of the light beam 1116 illuminatingthe first light-sensitive area 1122, whereas the sensor signal s₁ isindependent from the actual size of the light spot of illumination. Inother words, the first optical sensor 1118, preferably, does not exhibitthe above-described FiP effect.

The sensor signals s₁ and s₂ may be provided to an evaluation device1132 of the detector 1110. The evaluation device 1110, as symbolicallydepicted in FIG. 20, may specifically be embodied to derive a quotientsignal Q, as explained above. The quotient signal Q, derived by dividinge.g. the sensor signals s₁ and s₂ or multiples or linear combinationsthereof, may be used for deriving at least one item of information on alongitudinal coordinate z of the object 1112 and/or the beacon device1114, from which the light beam 1116 propagates towards the detector1110. Thus, as an example, a unique evaluation curve may exist, inwhich, for each quotient signal Q, a longitudinal coordinate z isassigned.

The detector 1110, in combination with the at least one beacon device1114, may be referred to as a detector system 1134, as will be explainedin further detail below, with reference to FIG. 25.

In FIG. 21, a modification of the embodiment of FIG. 20 is shown, whichforms an alternative detector 1110. The alternative embodiment of thedetector 1110 widely corresponds to the embodiment shown in FIG. 20.Instead of using an active light source, i.e. a beacon device 1114 withlight-emitting properties for generating the light beam 1116, however,the detector 1110 may comprise at least one illumination source 1136.The illumination source 1136, as an example, may comprise a laser,whereas, in FIG. 20, as an example, the beacon device 1114 may comprisea light-emitting diode (LED). The illumination source 1136 may beconfigured for generating at least one illumination light beam 1138 forilluminating the object 1112. The illumination light beam 1138 may fullyor partially be reflected by the object 1112 and may travel back towardsthe detector 1110, thereby forming the light beam 1116.

As shown in FIG. 20, as an example, the illumination light beam 1138 maybe parallel to the optical axis 1126 of the detector 1110. Otherembodiments, i.e. off-axis illumination and/or illumination at an angle,are feasible, too. In order to provide an on-axis illumination, as shownin FIG. 21, as an example, one or more reflective elements 1140 may beused, such as one or more prisms and/or mirrors, such as dichroiticmirrors, such as movable mirrors or movable prisms.

Apart from these modifications, the setup of the embodiment in FIG. 21corresponds to the setup in FIG. 20. Thus, again, an evaluation device1132 may be used, having, e.g., at least one divider 1142 for formingthe quotient signal Q, and, as an example, at least one positionevaluation device 1144, for deriving the at least one longitudinalcoordinate z from the quotient signal Q. It shall be noted that theevaluation device 1132 may fully or partially be embodied in hardwareand/or software. Thus, as an example, one or more of components 1142,1144 may be embodied by appropriate software components.

It shall be further noted that the embodiments shown in FIGS. 20 and 21simply provide embodiments for determining the longitudinal coordinateof the object 1112. As will be outlined in further detail below withreference to FIGS. 22A and 22B as well as to FIG. 23, the detector 1110may also be used for providing additional information on at least onetransversal coordinate of the object 1112 and/or of parts thereof.

In FIGS. 22A and 22B, a top view (FIG. 22A) and a cross-sectional viewof the second optical sensor 1120, which may be used in the setups e.g.of FIGS. 20 and/or 21, is shown. The second optical sensor 1120 maycomprise a fluorescent waveguiding sheet 1174 which forms the secondlight-sensitive area 1124 facing towards the object 1112. Thefluorescent waveguiding sheet 1174, in this exemplary embodiment, may bedesigned as a flat waveguiding sheet, in which, as symbolically depictedby the arrow 1176 in FIG. 22B, waveguiding by internal reflection maytake place, specifically by internal total reflection, specifically awaveguiding of fluorescence light generated within the fluorescentwaveguiding sheet 1174. The fluorescent waveguiding sheet 1174, as anexample, may have a lateral extension of at least 25 mm², such as atleast 100 mm², more preferably of at least 400 mm². As an example, a 10mm×10 mm square sheet, a 20 mm×20 mm square sheet, a 50 mm×50 mm squaresheet or another dimension may be used. It shall be noted, however, thatnon-square geometries or even non-rectangular geometries may be used,such as circular or oval geometries or polygonal geometries.

The fluorescent waveguiding sheet 1174, as an example, may comprise amatrix material 1178 and at least one fluorescent material 1180 disposedtherein, such as at least one fluorophore, e.g. a fluorescent dye. Forexemplary embodiments, reference may be made to the above-mentionedmaterials, such as one or more of the materials listed in WO 2012/168395A1. As an example, the following fluorescent material may be used:

This fluorescent material is disclosed as substance 34.2 in WO2012/168395 A1, including potential synthesis methods. The material maybe immersed in polystyrene, such as at a concentration of 0.001-0.5 wt.%. The fluorescent material 1180 may be designed to generatefluorescence light in response to an illumination by the light beam1116.

The fluorescent material 1180 and/or the concentration of thefluorescent material 1180 within the matrix material 1178, specificallymay be chosen to show linear properties, at least within a range ofmeasurement, i.e. within a range of intensities, such that the totalpower of the fluorescence light generated in response to an excitationis a linear function of the intensity of the illumination by theexcitation light, i.e. by the light beam 1116. As an example, thematerials and/or intensities may be chosen such that saturation effectsare avoided.

The second optical sensor 1120 further, in this embodiment, may comprisea plurality of photosensitive elements 1182, 1184, 1186, 1188, in FIGS.22A and 22B referred to as PD1-PD4, located at respective edges 190,192, 194, 196 of the fluorescent waveguiding sheet 174, e.g. rimportions of the fluorescent waveguiding sheet 1174. In this exemplaryembodiment, the fluorescent waveguiding sheet 1174 may have arectangular shape, such that pairs of edges are opposing each other,such as the pair of edges 1190, 1192 and the pair of edges 1194, 1196.The sides of the rectangular shape of the fluorescent waveguiding sheet174 may define a Cartesian coordinate system, with an x-dimensiondefined by an interconnection between edges 1190 and 192, and ay-dimension defined by an interconnection between edges 1196, 1194, asindicated in FIG. 22A. It shall be noted, however, that other coordinatesystems are feasible.

The photosensitive elements 1182, 1184, 1186, 1188, as an example, maycomprise photodiodes. Specifically, these photosensitive elements 1182,1184, 1186, 1188 may have, each, a comparable, preferably an identical,electrical capacity as the first optical sensor 1118. It shall be noted,however, that other embodiments are feasible. The photosensitiveelements 1182, 1184, 1186, 1188, as an example, may be or may comprisestrip-shaped photodiodes covering, preferably, the full length of therespective edges 1190, 1192, 1194, 1196, or, preferably, covering atleast 50% or more preferably at least 70% of the length of theserespective edges 1190, 1192, 1194, 1196. Other embodiments, however, arefeasible, such as embodiments in which more than one photosensitiveelement is located at a respective edge.

The photosensitive elements 1182, 1184, 1186, 1188 each produce at leastone sensor signal, in response to the light, specifically thefluorescence light, detected by these photosensitive elements 1182,1184, 1186, 1188. All of these sensor signals are referred to as secondsensor signals, wherein, in the following, PD1 creates sensor signals_(2,1), PD2 creates sensor signal s_(2,2), PD3 creates sensor signals_(2,3), and PD4 creates sensor signal s_(2,4), with the first index 2denoting the fact that these sensor signals are second sensor signals,and with the second index, from 1 to 4, indicating the respectivephotosensitive element 1182, 1184, 1186, 1188 from which the respectivesensor signal originates.

As outlined above in FIGS. 20 and 21, the at least one first sensorsignal s₁ and the second sensor signals s_(2,j) (with j=1, . . . , 4)are provided to the evaluation device 1132 of the detector 1110, thefunction of which will be explained in further detail below,specifically with reference to FIG. 24.

The evaluation device 1132 is configured to determine at least onelongitudinal coordinate z of the object 1112, which is not depicted inthese figures, and from which the light beam 1116 propagates towards thedetector 1110, by evaluating the first and second sensor signals.Additionally as will be outlined in further detail below, at least onetransversal coordinate x and/or y may be determined, as will also beoutlined in further detail below, with reference to FIGS. 3 and 24.

The second optical sensor 1120, as depicted in FIG. 22B, may furtheroptionally comprise at least one optical filter element 1198. Theoptical filter element 1198 may be placed in front of an optionalreference photosensitive element 1200, which may further, with orwithout the optical filter element 1198, be present in the detector1110. As an example, the reference photosensitive element 1200 maycomprise a large area photodiode. Other setups, however, are feasible.Thus, it shall be noted, that the reference photosensitive element 1200may also be left out in this embodiment, since the first optical sensor1118 may also take over the functionality of the referencephotosensitive element 1200. Specifically, in case a transparentfluorescent waveguiding sheet 1174 is used and in case the first opticalsensor 1118 is placed behind the second optical sensor 1120, the firstoptical sensor 118 may also take over the functionality of the referencephotosensitive element 1200. It shall further be noted that one or bothof the first optical sensor 1118 and the second optical sensor 1120 maybe a uniform optical sensor, having a single light-sensitive area 1122,1124, each, or that one or both of these optical sensors 1118, 1120 maybe pixelated.

As an example, the at least one optical filter element 1198 may bedesigned to prevent fluorescence light from entering the referencephotosensitive element 1200 or, at least, may attenuate fluorescencelight by at least 70%, or, preferably, by at least 80%.

In FIG. 23, an illumination of the second light-sensitive area 1124 bythe light beam 1116 is shown. Therein, two different situations aredepicted, representing different distances between the object 1112 andfrom which the light beam 1116 propagates towards the detector 1110, andthe detector 1110 itself, resulting in two different spot sizes of lightspots generated by the light beam in the fluorescent waveguiding sheet1174. Firstly, a small light spot 1202 and, secondly, a large light spot1204. In both cases, the overall power of the light beam remains thesame over light spots 1202, 1204. Further, a shadow 1206 is depicted,which is generated by the first optical sensor 118 being placed in frontof the second optical sensor 1120. In the following, it is assumed thatthe first optical sensor 1118 is still fully illuminated by the lightbeam 1116.

The illumination by the light beam 1116 induces fluorescence which, asdepicted in FIG. 22B above, is fully or partially transported bywaveguiding towards the photosensitive elements 1182, 1184, 1186, 1188.As indicated above, corresponding second sensor signals are generated bythese photosensitive elements, and are provided to the evaluation device1132, in conjunction with the first sensor signal and, optionally,further in conjunction with at least one reference sensor signalgenerated by the at least one reference photosensitive element 1200.

The evaluation device 1132, as symbolically depicted in FIG. 24, isdesigned to evaluate the sensor signals which, therein, are representedas outlined above. The sensor signals may be evaluated by the evaluationdevice in various ways, in order to determine a location informationand/or a geometrical information of the object 1112, such as at leastone longitudinal coordinate z of the object 1112 and, optionally, one ormore transversal coordinates of the object 1112.

Firstly, the evaluation device 1132 may comprise at least one summingdevice 1208 configured to form a sum signal S of the sensor signals PD1to PD4, such as according to formula (1) above, for the second sensorsignals s_(2,i), with i=1, . . . , 4 (the first index, for the sake ofsimplicity, is left out in the above-mentioned formula (1)). This sumsignal S may replace the second sensor signal s₂ in general and/or, fora part of the further evaluation, may be used as “the” second sensorsignal of the second optical sensor 1120. This sum signal S mayrepresent the total power of the fluorescence light generated by thelight beam 1116. Even though, some losses may occur, since, generally,not all of the fluorescence light will actually reach the photosensitiveelements 1182, 1184, 1186, 1188. Thus, as an example, losses inwaveguiding may occur, or some of the fluorescence light may actually beemitted from the edges 1190, 1192, 1194, 1196, in a direction which isnot covered by the photosensitive elements 1182, 1184, 1186, 188. Still,the sum signal S provides a fairly good measure for the total power ofthe fluorescence generated within the fluorescent waveguiding sheet1174.

The evaluation device 1132 may comprise at least one divider 1142 which,as symbolically depicted in FIG. 24, may be part of a positionevaluation device 1144 and which may be configured for forming at leastone quotient signal out of the first and second sensor signals s₁, s₂,with s₂, as an example, being the sum signal S of the respective secondsensor signals, as outlined above. Thus, as an example, the divider 1142may be configured for one or more of dividing the first and secondsensor signals, dividing multiples of the first and second sensorsignals or dividing linear combinations of the first and second sensorsignals. The position evaluation device 1144 further may be configuredfor determining the at least one longitudinal coordinate z by evaluatingthe quotient signal Q, such as by using at least one predetermined ordeterminable relationship between the quotient signal Q and thelongitudinal coordinate. As an example, calibration curves may be used.The divider 1142 and/or the position evaluation device 1144 may, as anexample, comprise at least one data processing device, such as at leastone processor, at least one DSP, at least one FPGA and/or at least oneASIC. Further, for storing the at least one predetermined ordeterminable relationship between the longitudinal coordinate z and thequotient signal, at least one data storage device may be provided, suchas for providing one or more look-up tables for storing thepredetermined relationship.

As outlined above, additional information may be derived from the secondsensor signals s_(2,1), s_(2,2), s_(2,3) and s_(2,4), besides the atleast one longitudinal coordinate z of the object. Thus, additionally,at least one transversal coordinate x, y may be derived. This is mainlydue to the fact that the distances between a center of the light spots1202, 1204 and the photosensitive elements 1182, 1184, 1186, 1188 arenon-equal. Thus, the center of the light spot 1202, 1204 has a distancefrom the photosensitive element 1182 of I₁, a distance from thephotosensitive element 1184 of I₂, from the photosensitive element 1186of I₃ and from the photosensitive element 1188 of I₄. Due to thedifferences in these distances between the location of the generation ofthe fluorescence light and the photosensitive elements detecting saidfluorescence light, the sensor signals will differ. This is due tovarious effects. Firstly, again, internal losses will occur duringwaveguiding, since each internal total reflection implies a certainloss, such that the fluorescence light will be attenuated on its way,depending on the length of the path. The longer the distance of travel,the higher the attenuation and the higher the losses. Further,absorption effects will occur. Thirdly, a spreading of the light willhave to be considered. The longer the distance between the light spot1202, 1204 to the respective photosensitive element 1182, 1184, 1186,1188, the higher the probability that a photon will be directed into adirection other than the photosensitive element. Consequently, bycomparing the sensor signals of the photosensitive elements 1182, 1184,1186, 1188, at least one item of information on a transversal coordinateof the light spot 1202, 1204 and, thus, of the object 1112 may begenerated.

The comparison of the sensor signals may take place in various ways.Thus, generally, the evaluation device 1132 may be designed to comparethe sensor signals in order to derive the at least one transversalcoordinate of the object 1112 and/or of the light spot 1202, 1204. As anexample, the evaluation device 1132 may comprise at least onesubtracting device 1210 and/or any other device which provides afunction which is dependent on at least one transversal coordinate, suchas on the coordinates x, y, of the object 1112. For exemplaryembodiments, the subtracting device 1210 and/or any other device mayprovide a function which is dependent on at least one transversalcoordinate, such as on the coordinates x, y. For exemplary embodiments,the subtracting device 1210 may be designed to generate at least onedifference signal, such as a signal according to formula (4) and/or (5)above, for one or each of dimensions x, y in FIG. 23. As an example, asimple difference between PD1 and PD2, such as PD1−PD2/(PD1+PD2) may beused, as a measure for the x-coordinate, and a difference between PD3and PD4, such as (PD3−PD4)/(PD3+PD4), may be used as measure for they-coordinate. A transformation of the transversal coordinates of thelight spot 1202, 1204 in the plane of the second light-sensitive area1124, as an example, into transversal coordinates of the object fromwhich the light beam 1116 propagates to the detector 1110, may simply bemade by using the well-known lens equation. For further details, as anexample, reference may be made to WO 2014/097181 A1.

It shall be noted, however, that other transformations or otheralgorithms for processing the sensor signals by evaluating device 1140are feasible. Thus, besides subtractions or the linear combinations withpositive or negative coefficients, non-linear transformations aregenerally feasible. As an example, for transforming the sensor signalsinto z-coordinates and/or x, y-coordinates, one or more known ordeterminable relationships may be used, which, as an example, may bederived empirically, such as by calibrating experiments with the objectplaced at various distances from the detector 1110 and/or by calibratingexperiments with the object placed at various transversal positions orthree-dimensional positions, and by recording the respective sensorsignals.

FIG. 25 shows, in a highly schematic illustration, an exemplaryembodiment of a detector 1110, e.g. according to the embodiments shownin FIG. 20 or 21. The detector 1110 specifically may be embodied as acamera 1146 and/or may be part of a camera 1146. The camera 1146 may bemade for imaging, specifically for 3D imaging, and may be made foracquiring standstill images and/or image sequences such as digital videoclips. Other embodiments are feasible.

FIG. 25 further shows an embodiment of a detector system 1134, which,besides the at least one detector 1110, comprises one or more beacondevices 1114, which, in this example, may be attached and/or integratedinto an object 1112, the position of which shall be detected by usingthe detector 1110. FIG. 25 further shows an exemplary embodiment of ahuman-machine interface 1148, which comprises the at least one detectorsystem 1134 and, further, an entertainment device 1150, which comprisesthe human-machine interface 1148. The figure further shows an embodimentof a tracking system 1152 for tracking a position of the object 1112,which comprises the detector system 1134. The components of the devicesand systems shall be explained in further detail below.

FIG. 25 further shows an exemplary embodiment of a scanning system 1154for scanning a scenery comprising the object 1112, such as for scanningthe object 1112 and/or for determining at least one position of the atleast one object 1112. The scanning system 1154 comprises the at leastone detector 1110, and, further, optionally, the at least oneillumination source 1136 as well as, optionally, at least one furtherillumination source 1136. The illumination source 1136, generally, isconfigured to emit at least one illumination light beam 1138, such asfor illumination of at least one dot, e.g. a dot located on one or moreof the positions of the beacon devices 1114 and/or on a surface of theobject 1112. The scanning system 1154 may be designed to generate aprofile of the scenery including the object 1112 and/or a profile of theobject 1112, and/or may be designed to generate at least one item ofinformation about the distance between the at least one dot and thescanning system 1154, specifically the detector 1110, by using the atleast one detector 1110. In FIG. 13, as an example, one or morereflective elements 1140 may be used, for example partially transparent,such as one or more prisms and

As outlined above, an exemplary embodiment of the detector 1110 whichmay be used in the setup of FIG. 25 is shown in FIGS. 20 and 21. Thus,the detector 1110, besides the optical sensors 1118, 1120, comprises atleast one evaluation device 1132, having e.g. the at least one divider1142 and/or the at least one position evaluation device 1144, assymbolically depicted in

FIG. 25. The components of the evaluation device 1132 may fully orpartially be integrated into a distinct device and/or may fully orpartially be integrated into other components of the detector 1110.Besides the possibility of fully or partially combining two or morecomponents, one or more of the optical sensors 1118, 1120 and one ormore of the components of the evaluation device 1132 may beinterconnected by one or more connectors 1156 and/or by one or moreinterfaces, as symbolically depicted in FIG. 25. Further, the one ormore connectors 1156 may comprise one or more drivers and/or one or moredevices for modifying or preprocessing sensor signals. Further, insteadof using the at least one optional connector 1156, the evaluation device1132 may fully or partially be integrated into one or both of theoptical sensors 1118, 1120 and/or into a housing 1158 of the detector1110. Additionally or alternatively, the evaluation device 1132 mayfully or partially be designed as a separate device.

In this exemplary embodiment, the object 1112, the position of which maybe detected, may be designed as an article of sports equipment and/ormay form a control element or a control device 1160, the position ofwhich may be manipulated by a user 1162. As an example, the object 1112may be or may comprise a bat, a racket, a club or any other article ofsports equipment and/or fake sports equipment. Other types of objects1112 are possible. Further, the user 1162 himself or herself may beconsidered as the object 1112, the position of which shall be detected.

As outlined above, the detector 1110 comprises at least the opticalsensors 1118, 1120. The optical sensors 1118, 1120 may be located insidethe housing 1158 of the detector 1110. Further, the at least onetransfer device 1128 may be comprised, such as one or more opticalsystems, preferably comprising one or more lenses.

An opening 1164 inside the housing 1158, which, preferably, is locatedconcentrically with regard to the optical axis 1126 of the detector1110, preferably defines a direction of view 1166 of the detector 1110.A coordinate system 1168 may be defined, in which a direction parallelor anti-parallel to the optical axis 1126 may be defined as alongitudinal direction, whereas directions perpendicular to the opticalaxis 1126 may be defined as transversal directions. In the coordinatesystem 1128, symbolically depicted in FIG. 25, a longitudinal directionis denoted by z, and transversal directions are denoted by x and y,respectively. Other types of coordinate systems 1168 are feasible, suchas non-Cartesian coordinate systems.

The detector 1110 may comprise the optical sensors 1118, 1120 as wellas, optionally, further optical sensors. The optical sensors 1118, 1120preferably are located in one and the same beam path, one behind theother, such that the first optical sensor 1118 covers a portion of thesecond optical sensor 1120. Alternatively, however, a branched beam pathmay be possible, with additional optical sensors in one or moreadditional beam paths, such as by branching off a beam path for at leastone transversal detector or transversal sensor for determiningtransversal coordinates of the object 1112 and/or of parts thereof.

One or more light beams 1116 are propagating from the object 1112 and/orfrom one or more of the beacon devices 1114, towards the detector 1110.The detector 1110 is configured for determining a position of the atleast one object 1112. For this purpose, as explained above in thecontext of FIGS. 20 to 23, the evaluation device 1132 is configured toevaluate sensor signals provided by the optical sensors 1118, 1120. Thedetector 1110 is adapted to determine a position of the object 1112, andthe optical sensors 1118, 1120 are adapted to detect the light beam 1116propagating from the object 1112 towards the detector 1110, specificallyfrom one or more of the beacon devices 1114. In case no illuminationsource 1136 is used, the beacon devices 1114 and/or at least one ofthese beacon devices 1114 may be or may comprise active beacon deviceswith an integrated illumination source such as a light-emitting diode.In case the illumination source 1136 is used, the beacon devices 1114 donot necessarily have to be active beacon devices. Contrarily, areflective surface of the object 1112 may be used, such as integratedreflected beacon devices 1114 having at least one reflective surface.The light beam 1116, directly and/or after being modified by thetransfer device 1128, such as being focused by one or more lenses,illuminates the light-sensitive areas 1122, 1124 of the optical sensors1118, 1120. For details of the evaluation, reference may be made toFIGS. 20 to 23 above.

As outlined above, the determination of the position of the object 1112and/or a part thereof by using the detector 1110 may be used forproviding a human-machine interface 1148, in order to provide at leastone item of information to a machine 1170. In the embodimentsschematically depicted in FIG. 25, the machine 1170 may be a computerand/or may comprise a computer. Other embodiments are feasible. Theevaluation device 1132 may even be fully or partially integrated intothe machine 1170, such as into the computer.

As outlined above, FIG. 25 also depicts an example of a tracking system1152, configured for tracking the position of the at least one object1112 and/or of parts thereof. The tracking system 1152 comprises thedetector 1110 and at least one track controller 1172. The trackcontroller 1172 may be adapted to track a series of positions of theobject 1112 at specific points in time. The track controller 1172 may bean independent device and/or may be fully or partially integrated intothe machine 1170, specifically the computer, as indicated in FIG. 25and/or into the evaluation device 1132.

Similarly, as outlined above, the human-machine interface 1148 may formpart of an entertainment device 1150. The machine 1170, specifically thecomputer, may also form part of the entertainment device 1150. Thus, bymeans of the user 1162 functioning as the object 1112 and/or by means ofthe user 1162 handling a control device 1160 functioning as the object1112, the user 1162 may input at least one item of information, such asat least one control command, into the computer, thereby varying theentertainment functions, such as controlling the course of a computergame.

In FIGS. 26A and 26B, an alternative embodiment of the second opticalsensor 1120 is shown, in a top view (FIG. 26A) and in a cross-sectionalview (FIG. 26B). For most of the details of the second optical sensor1120, reference may be made to FIGS. 22A and 22B above. The embodiment,however, shows various variations from the embodiment of FIGS. 22A and22B, which may be realized in an isolated fashion or in combination.

Thus, firstly, the embodiment shows variations of the placement of thephotosensitive elements. Besides the photosensitive elements 1182, 1184,1186, 1188 located at opposing edges 1190, 1192, 1194, 1196, which, inthis embodiment, are straight edges, additional photosensitive elements1212 are located at corners 1214 of the fluorescent waveguiding sheet1174. The edges 1190, 1192, 1194, 1196 in combination may form a rim ofthe fluorescent waveguiding sheet 1174, such as a rectangular rim. Therim itself may be roughened or even blackened in order to avoid backreflections from the rim. The corners 1214 also are part of the edges ofthe fluorescent waveguiding sheet 1174. The photosensitive elements 1212located at the corners 1214 may provide additional second sensor signalswhich may be evaluated in a similar fashion as shown e.g. in FIG. 24.They may provide an increased accuracy of the determination of thez-coordinate and/or of the x, y-coordinate. Thus, as an example, theseadditional sensor signals may be included in the sum signal, such asformed by using formula (1) above. Additionally or alternatively, theseadditional sensor signals may be implemented into the formation ofdifference signals, such as according to formulae (2) and/or (3) above.As an example, difference signals between two photosensitive elements1212 located at opposing corners 1214 may be formed and/or differencesignals between one photosensitive element 1212 located at a corner 1214and one photosensitive element located at a straight edge, e.g. astraight rim portion, may be formed. The difference signal D, in eachcase, may denote a location of the light spot on an axis interconnectingthe two photosensitive elements.

Further, the embodiment of FIGS. 26A and 26B shows a variation of theplacement of the photosensitive elements 1182, 1184, 1186, 1188, 1212with respect to the fluorescent waveguiding sheet 1174. Thus, in theembodiment of FIGS. 22A and 22B, the photosensitive elements 1182, 1184,1186, 1188 may be located within the plane of the fluorescentwaveguiding sheet 1174. Additionally or alternatively, as shown in theembodiment of FIGS. 26A and 26B, some or even all of the photosensitiveelements 1182, 1184, 1186, 1188, 1212 may be located outside the planeof the fluorescent waveguiding sheet 1174. Specifically, as shown in thecross-sectional view of FIG. 26B, as an example, the photosensitiveelements 1182, 1184, 1186, 1188, 1212 may be optically coupled to thefluorescent waveguiding sheet 1174 by optical coupling elements 1216. Asan example, the photosensitive elements 1182, 1184, 1186, 1188, 1212simply may be glued to the fluorescent waveguiding sheet 1174 by usingone or more transparent adhesives, such as an epoxy adhesive.

Further, the embodiment of FIGS. 26A and 26B shows a variation of thesize and shape of the photosensitive elements 1182, 1184, 1186, 1188,1212. Thus, the photosensitive elements 1182, 1184, 1186, 1188, 1212 donot necessarily have to be strip-shaped photosensitive elements. As anexample, very small photodiodes may be used, such as rectangularphotodiodes or even point-like or spot-like photodiodes. As outlinedabove, a small size of the photodiodes generally may lead to a lowerelectrical capacitance and, thus, may lead to a faster response of thesecond optical sensor 1120.

Further, the embodiment of FIGS. 26A and 26B shows that no referencephotosensitive element 1200 is necessary. Thus, as discussed above, thesum signal itself may replace the function of the referencephotosensitive element 1200. Thus, the second optical sensor 1120 asshown in the embodiment of FIGS. 26A and 26B provides a fully functionaland, optionally, transparent PSD. No further PSDs are required.

FIGS. 27A and 27B show a schematic view of a further exemplaryembodiment of a detector 110 according to the present invention. In FIG.27A, the detector 110 comprises at least two optical sensors 113, forexample a first optical sensor 118 and a second optical sensor 120, eachhaving at least one light-sensitive area 121. The optical detector 110,further, comprises at least one transfer device 128, such as at leastone lens or a lens system, specifically for beam shaping. The transferdevice 128 has an optical axis 129, wherein the transfer device 128 andthe optical detector preferably may have a common optical axis. Thedetector 110 may comprise at least one illumination source 136. Theillumination source 136, as an example, may comprise a laser source. Theillumination source 136 may be arranged such that the illumination lightbeam 138 is one or both of non-parallel to the optical axis 126, butoff-axis, or shifted from the optical axis 126. The illumination source136 may be configured for generating at least one illumination lightbeam 138 for illuminating the object 112. The illumination light beam138 is fully or partially reflected by the object 112 and travels backtowards the detector 110, thereby forming the light beam 116. The lightbeam 116 propagates from the object 112 towards the first optical sensor118 and the second optical sensor 120. The first optical sensor 118 maycomprise a first light-sensitive area 122, and the second optical sensor120 may comprise a second light-sensitive area 124. In this embodimentthe optical sensors 118, 120 may be arranged such that thelight-sensitive areas 122, 124 have identical surface areas. Forexample, the optical sensors 118, 120 may be identical. The detector 110may further comprise the reflective element 140, such as at least onebeam splitter, which is adapted to lead the light beam 116 from thetransfer device 128 to both of the optical sensors 118, 120. The firstoptical sensor 118 may have a distance db₁ from the beam splitter andthe second optical sensor 120 may have a distance db₂ from the beamsplitter, wherein db₁≠db₂. Again, an evaluation device 132 may be used,having, e.g., at least one divider 142 for forming the quotient signalQ, and, as an example, at least one position evaluation device 144, forderiving the at least one longitudinal coordinate z from the quotientsignal Q. It shall be noted that the evaluation device 132 may fully orpartially be embodied in hardware and/or software. Thus, as an example,one or more of components 142, 144 may be embodied by appropriatesoftware components.

In FIG. 27B, the detector 110 comprises at least two optical sensors113, for example a first optical sensor 118 and a second optical sensor120, each having at least one light-sensitive area 121. The opticaldetector 110, further, may comprise at least one transfer device 128,such as at least one lens or a lens system. The transfer device 128 hasan optical axis 129, wherein the transfer device 128 and the opticaldetector preferably may have a common optical axis. The detector 110 maycomprise at least one illumination source 136. The illumination source136, as an example, may comprise a laser source, for example with a 1550nm laser source. The illumination source 136 may be arranged such thatthe illumination light beam 138 is one or both of non-parallel to theoptical axis 126, but off-axis, or shifted from the optical axis 126.The illumination source 136 may be configured for generating at leastone illumination light beam 138 for illuminating the object 112. Theillumination light beam 138 is fully or partially reflected by theobject 112 and travels back towards the detector 110, thereby formingthe light beam 116. The light beam 116 propagates from the object 112towards the first optical sensor 118 and the second optical sensor 120.The first optical sensor 118 may comprise the first light-sensitive area122, and the second optical sensor 120 may comprise the secondlight-sensitive area 124. As can be seen in FIG. 27B, the first opticalsensor 118 is a small optical sensor, whereas the second optical sensor120 is a large optical sensor. The optical sensors 118, 120 may beGe-sensors. The first optical sensor 118 may have a first distance fromthe transfer device 128 and the second optical sensor 120 may have asecond distance from the transfer device 128. In FIG. 27B, the firstoptical sensor 118 may be close to the transfer device 128, whereas thesecond optical sensor 120 may be arranged further away in direction tothe focus. The first optical sensor 118 may be arranged such that,independent from a distance from the object, a sensor signal of thefirst optical sensor 118 may be proportional to the total power of thelight beam passing the transfer device 128. Again, an evaluation device132 may be used, having, e.g., at least one divider 142 for forming thequotient signal Q, and, as an example, at least one position evaluationdevice 144, for deriving the at least one longitudinal coordinate z fromthe quotient signal Q. It shall be noted that the evaluation device 132may fully or partially be embodied in hardware and/or software. Thus, asan example, one or more of components 142, 144 may be embodied byappropriate software components.

In FIG. 28 experimental results of a distance determination with thedetector 110 is shown. In this experimental setup, the transfer device128 was a plano-convex lens having a focal length of 150 mm, a diameterof 75 mm and coated with an anti-reflective coating for a range of1050-1700 nm, available as Thorlabs LA1002-C. The object 112, in thiscase a piece of carpet, was illuminated by a laser diode with 30 mWCW-power output at a wavelength of 1550 nm, available asSchäfter+Kirchhoff 55 cm-1550-30-Q04-T12-C-6. The illumination source136 was placed laterally next to the transfer device and was operated at367 Hz with a 50:50 rectangle modulation. A second optical sensor 120,in this experimental setup, a Ge photodiode with dimensions of 10 mm×10mm, available as Thorlabs FDG1010, was arranged directly on the transferdevice, and a first optical sensor 118 having a diameter of 5 mm,available as Thorlabs FDG05 was placed with a distance of 0.85 m fromthe transfer device 128. FIG. 28 shows a dependency of distance d in m,corresponding to the longitudinal coordinate z of the object, of thedetermined quotient signal Q.

In FIG. 29, a further exemplary embodiment of the detector 110 isdepicted. For details of the optical sensor 113 reference is made toFIG. 6 above. As in FIGS. 27A and B, the illumination source 136 may bepositioned off-axis. The illumination source 136 may be adapted togenerate and/or to project a cloud of points, for example theillumination source 136 may comprise one optical element 194, inparticular one or more optical elements selected from the groupconsisting of at least one digital light processing (DLP) projector, atleast one LCoS projector, at least one spatial light modulator; at leastone diffractive optical element; at least one array of light emittingdiodes; at least one array of laser light sources. The sensor element115 may comprise a matrix 117 of optical sensors 113, each opticalsensor 113 having at least one light-sensitive area 121 facing theobject 112. The sensor element 115 may comprise at least one CMOSsensor. In FIG. 30, schematically the cloud of points impinging on thesensor element 115 is depicted. Additionally, disturbances may bepresent on the matrix 117 such as disturbances due to speckles and/orextraneous light and/or multiple reflections. The evaluation device 132may be adapted to determine at least one region of interest 196, forexample one or more pixels illuminated by the light beam 116 which areused for determination of the longitudinal coordinate of the object 112.In FIG. 30, regions of interest 196 are shown exemplary as circularareas with dashed lines. For example, the evaluation device 132 may beadapted to perform a filtering method, for example, a blob-analysisand/or object recognition method.

FIGS. 31A to O show further exemplary configurations of optical sensorsaccording to the present invention, in particular top view in directionof propagation of the light beam 116. In FIG. 31A, a top view of tworectangular optical sensors 113 is shown, wherein the first opticalsensor 118 is a small optical sensor in front of a larger second opticalsensor 120. The first optical sensor 118 and the second optical sensor120 may be arranged with a different offset, in particular in atransversal direction y, from the optical axis 126. In FIGS. 31B and31C, top view of a large rectangular optical sensor 120 is shown,wherein the first optical sensor 118 is a small optical sensor in frontof a larger second optical sensor 120 having a triangle shaped (FIG.31B) or star-shaped (FIG. 31C) light-sensitive area 121. In FIGS. 31M toO, a top view of two rectangular optical sensors 113 is shown, whereinthe first optical sensor 118 and the second optical sensor 120 arerectangular sensors with the same size. In FIGS. 31M to O a mask 119 isarranged in front of the first and second optical sensors 118, 120. Themask 119 may be arranged with a different offset from the optical axis126. The mask 119 may have an arbitrary size and shape, for example, themask may be rectangular shaped (FIG. 31M), triangle shaped (FIG. 31N) orstar-shaped (FIG. 31O). However, other sizes and shapes are feasible.Mask 119 may be adapted to prevent light impinging on the lightsensitive areas of the first and second optical sensors 118, 120. Ifused in a situation comparable to the situation illustrated in FIG. 19A,the mask may result in a further z-dependent decrease of a decreasingsensor signal, resulting in an increased z-dependency of the resultingquotient signal Q.

The first optical sensor 118 and the second optical sensor 120 may bearranged with a different offset from the optical axis 126. FIG. 31Kshows two circular shaped optical sensors 113, wherein the first opticalsensor 118 is a small optical sensor in front of the larger secondoptical sensor 120. In FIG. 31D, the light sensitive area of the firstoptical sensor 118 is square-shaped, and the light sensitive area of thesecond optical sensor 120 is rectangular, such that the surface areas inx and y differ. In addition, a center of the first optical sensor 118and a center of second optical sensor 120 may have different xcoordinates such that the optical sensors 118, 120 may have differentspatial offset in one or more of x and y direction from the opticalaxis. In FIG. 31H, both the first optical sensor 118 and the secondoptical sensor 120 may be rectangular. The first optical sensor 118 andthe second optical sensor 120 may be arranged such that the center ofthe first optical sensor 118 and the center of second optical sensor 120may have different x coordinates and that the surface areas in x and ydiffer. The first optical sensor 118 and the second optical sensor 120may be arranged with a different offset from the optical axis 126. InFIG. 31L, the first optical sensor 118 may have a deviating shape fromthe shape of the second optical sensor 120 such as a circular orsemicircular shape. FIGS. 31E, F, G, I, J show sensor element 115 havingthe matrix of pixels 117. In FIGS. 31E, F, G the sensor element 115 hasa rectangular shape, whereas in FIGS. 31I and J the sensor element 115has a circular shape. Rows and columns may be arranged equidistant ornon-equidistant. In case of equidistant rows and/or columns the sensorelement 115 may be arranged with a spatial offset to the optical axis126.

FIG. 32 shows experimental results of a determination of a longitudinalcoordinate z for different object sizes. The experimental setup wascomparable to the setup shown in FIG. 19A. In the measurement setup theobject 112, a paper target, was illuminated by laser 136 with awavelength of 905 nm, 1.6 mW and modulated with 23 Hz. Light reflectedfrom the object 112 was led to a quadrant diode 178, available as OSIOptoelectronics, OSI Spot-4D. Between the object 112 and quadrant diode178 a lens 128 having an aspherical effective focal length of 20.0 mm, adiameter of 25.0 mm was placed, available as Thorlabs AL2520M-B. Adistance from quadrant diode 178 to lens 128 was 19.7 mm and thequadrant diode 178 had an offset from the optical axis in y=0.5 mm.Further, different from the situation in FIG. 19A and not shown in FIG.19A, in the situation of FIG. 32, an iris diaphragm or a further lenswas placed in front of the laser 136 between the laser 136 and theobject 112, to modify the illumination light beam 138. The irisdiaphragm was used to modify the width of the illumination light beam138. The further lens was used to obtain a diverging illumination lightbeam 138 with a beam width decreasing with the distance from the laser136. FIG. 32 shows the quotient Q of two adjacent quadrant currents as afunction of the distance, i.e. longitudinal coordinate of the object112, z in mm. In a first experiment, a diameter of a illumination lightbeam 138 was varied by an iris diaphragm from 1 mm, solid line, to 3.5mm, loosely dashed line, and to 5 mm, dash-dot line. In a secondexperiment, the diameter of the illumination light beam 138 was variedby the further lens such that the beam width of the illumination lightbeam 138 diverges with increasing distance from the further lens. Tocharacterize the diverging illumination light beam 138, the beam widthat 1 m, 2 m, and 3 m from the lens 128 is given. The dashed line showsthe quotient Q, wherein the beam width was 10 mm at 1 m distance, 16 mmat 2 m distance and 22 mm at 3 m distance from the lens 128. The dottedline shows the quotient Q, wherein the beam width was 15 mm at 1 mdistance, 32 mm at 2 m distance and 49 mm at 3 m distance from the lens128. Below z=2300 mm all curves show the same dependency of Q from z anddeviations below ±5% and thus independence from the beam width. In thesituation of FIG. 32 the beam width at the object 112 corresponds to theobject size that is measured. The independence of the quotient Q fromthe beam width and thus from the object size clearly demonstrates theproperty of object size independence. In an application, the influenceof the further lens leading to a diverging illumination light beam maybe caused by a liquid drop, or rain, or dirt or the like such as on thelaser module. Thus, object size independence is an important propertyfor robust measurements.

FIGS. 33A and B show an exemplary beam profile and determination offirst area 198 and second area 200 of the beam profile. In FIG. 33Anormalized intensity I_(norm) as a function of the transversalcoordinate x in mm is depicted. The object size was 20 mm and thedistance object to sensor was 1200 mm. The first area 198 of the beamprofile may comprise essentially edge information of the beam profileand the second area 200 of the beam profile may comprise essentiallycenter information of the beam profile. The beam profile may have acenter, a maximum value of the beam profile and/or a center point of aplateau of the beam profile. In FIG. 33A the center of the plateau maybe at 500 mm. The beam profile may further comprise falling edgesextending from the plateau. The second area 200 may comprise innerregions of the cross section and the first area 198 may comprise outerregions of the cross section. At least one area of the beam profile maybe determined and/or selected as first area 198 of the beam profile ifit comprises at least parts of the falling edges of the cross section.In FIG. 33A, the first area 198 at both sides from the center isdepicted in dark grey. At least one area of the beam profile may bedetermined and/or selected as second area 200 of the beam profile if itis close or around the center and comprises essentially centerinformation. In FIG. 33A, the second area 200 is depicted in light grey.FIG. 33B shows the corresponding light spot of the intensitydistribution as shown in FIG. 33A and the corresponding first area 198,and second area 200.

FIG. 34 shows a further exemplary embodiment of the detector 110. Theoptical sensors 113 may comprise the first optical sensor 118 having thefirst light sensitive area 122 and the second optical sensor 120 havingthe second light sensitive area 124. The first light sensitive area 122and the second light sensitive area 124 are arranged such that acondition

$\frac{a}{c} \neq \frac{b}{d}$is satisfied. “a” is a ratio of photons hitting both an inner region 202of a plane 204 perpendicular to the optical axis 126 intersecting theoptical axis 126 at a distance equal to half of a focal length f of thetransfer device 128 and the first light sensitive area 122. “b” is aratio of photons hitting both the inner region 202 of the plane 204 andthe second light sensitive area 124. “c” is a ratio of photons hittingboth an outer region 206 of the plane 204 and the first light-sensitivearea 122. “d” is a ratio of the photons hitting both the outer region206 of the plane 204 and the second light sensitive area 124. The innerregion 202 may have an area with a geometrical center point on theoptical axis 126 and an extension such that half of the photons hit theplane 204 within the inner region 202 and the other half hit the planeoutside the inner region 202. The inner region 202 may be designed as acircle with a center point on the optical axis 126 and a radius r whichis chosen such that half of the photons hit the plane 204 within thecircle and the other half hit the plane outside the circle.

In FIG. 25, a schematic view of an exemplary embodiment of a detector2110 for determining a position of at least one object 2112 is depicted.In FIG. 35, the object 2112 is depicted for two different objectdistances. The detector 2110 comprises at least two optical sensors2113, for example a first optical sensor 2118 and a second opticalsensor 2120, each having at least one light-sensitive area 2121. Theobject 2112 may comprise at least one beacon device 2114, from which alight beam 2116, also denoted as incident light beam, propagates towardsthe detector 2110. Additionally or alternatively, the detector maycomprise at least one illumination source 2115 for illuminating theobject 2112. As an example, the illumination source 2115 may beconfigured for generating an illuminating light beam for illuminatingthe object 2112. Specifically, the illumination source 2115 may compriseat least one laser and/or laser source. Various types of lasers may beemployed, such as semiconductor lasers. Additionally or alternatively,non-laser light sources may be used, such as LEDs and/or light bulbs.The illumination source 2115 may comprise an artificial illuminationsource, in particular at least one laser source and/or at least oneincandescent lamp and/or at least one semiconductor light source, forexample, at least one light-emitting diode, in particular an organicand/or inorganic light-emitting diode. As an example, the light emittedby the illumination source 2115 may have a wavelength of 300-500 nm.Additionally or alternatively, light in the infrared spectral range maybe used, such as in the range of 780 nm to 3.0 μm. Specifically, thelight in the part of the near infrared region where silicon photodiodesare applicable specifically in the range of 700 nm to 1000 nm may beused. Further, the illumination source 2115 may be configured foremitting modulated or non-modulated light. In case a plurality ofillumination sources 2115 is used, the different illumination sourcesmay have different modulation frequencies which, as outlined in furtherdetail below, later on may be used for distinguishing the light beams.

The first optical sensor 2118 may comprise a first light-sensitive area2122, and the second optical sensor 2120 may comprise a secondlight-sensitive area 2124. The light beam 2116, as an example, maypropagate along an optical axis 2126 of the detector 2110. Otherembodiments, however, are feasible. The first light-sensitive area 2122and the second light-sensitive area may be oriented towards the object2112. The optical detector 2110, further, may comprise at least onetransfer device 2128, such as at least one lens or a lens system,specifically for beam shaping. The transfer device 2128 may have atleast one focal length in response to the incident light beam 2116propagating from the object 2112 to the detector 2110. The transferdevice 2128 may have an optical axis 2129, wherein the transfer device2128 and the optical detector preferably may have a common optical axis.The transfer device 2128 may constitute a coordinate system. A directionparallel or anti-parallel to the optical axis 2126, 2129 may be definedas a longitudinal direction, whereas directions perpendicular to theoptical axis 2126, 2129 may be defined as transversal directions,wherein a longitudinal coordinate I is a coordinate along the opticalaxis 2126, 2129 and wherein d is a spatial offset from the optical axis2126, 2129. Consequently, the light beam 2116 is focused, such as in oneor more focal points, and a beam width of the light beam 2116 may dependon a longitudinal coordinate z of the object 2112, such as on a distancebetween the detector 2110 and the beacon device 2114 and/or the object2112. The optical sensors 2118, 2120 may be positioned off focus. Fordetails of this beam width dependency on the longitudinal coordinate,reference may be made to one or more of the WO 2012/110924 A1 and/or WO2014/097181 A1.

The detector comprises at least one angle dependent optical element 2130adapted to generate at least one light beam 2131 having at least onebeam profile depending on an angle of incidence of an incident lightbeam propagating from the object 2112 towards the detector 2110 andilluminating the angle dependent optical element 2130. The angledependent optical element 2130 may have angle dependent transmissionproperties such that an electromagnetic wave impinging on a first side2132, for example a surface and/or an entrance, of the angle dependentoptical element 2130 may be partly, depending on the properties of theangle dependent optical element, absorbed and/or reflected and/ortransmitted. A degree of transmission may be defined as quotient oftransmitted power of the electromagnetic wave, i.e. the power behind theangle dependent optical element 2130, and the incident power of theelectromagnetic wave, i.e. the power before impinging on the angledependent optical element 2130. The angle dependent optical element 2130may be designed such that the degree of transmission depends on an angleof incidence at which the incident light beam propagating from theobject towards the detector 2116 impinges on the angle dependent opticalelement 2130. The angle of incident may be measured with respect to anoptical axis of the angle dependent optical element 2130. The angledependent optical element 2130 may be arranged in the direction ofpropagation behind the transfer device 2128. The transfer device may,for example, comprise at least one collimating lens. The angle dependentoptical element 2130 may be designed to weaken rays impinging withlarger angles compared to rays impinging with a smaller angle. Forexample, the degree of transmission may be highest for light raysparallel to the optical axis, i.e. at 0°, and may decrease for higherangles. In particular, at at least one cut-off angle the degree oftransmission may steeply fall to zero. Thus, light rays having a largeangle of incidence may be cutoff.

The angle dependent optical element 2130 may comprise at least oneoptical element selected from the group consisting of: at least oneoptical fiber, in particular at least one multifurcated optical fiber,in particular at least one bifurcated optical fiber; at least onediffractive optical element; at least one angle dependent reflectiveelement, at least one diffractive grating element, in particular a blazegrating element; at least one aperture stop; at least one prism; atleast one lens; at least one lens array, in particular at least onemicrolens array; at least one optical filter; at least one polarizationfilter; at least one bandpass filter; at least one liquid crystalfilter, in particular a liquid crystal tunable filter; at least oneshort-pass filter; at least one long-pass filter; at least one notchfilter; at least one interference filter; at least one transmissiongrating; at least one nonlinear optical element, in particular onebirefringent optical element.

The first optical sensor 2118, in response to the illumination by thelight beam 2131, may generate a first sensor signal s₁, whereas thesecond optical sensor 2120 may generate a second sensor signal s₂.Preferably, the optical sensors 2118, 2120 are linear optical sensors,i.e. the sensor signals s₁ and s₂ each are solely dependent on the totalpower of the light beam 131 or of the portion of the light beam 2131illuminating their respective light-sensitive areas 2122, 2124, whereasthese sensor signals s₁ and s₂ are independent from the actual size ofthe light spot of illumination.

The sensor signals s₁ and s₂ are provided to an evaluation device 2133of the detector 2110. The evaluation device 2133 is embodied to derive aquotient signal Q, as explained above. From the quotient signal Q,derived by dividing the sensor signals s₁ and s₂ or multiples or linearcombinations thereof, may be used for deriving at least one item ofinformation on a longitudinal coordinate z of the object 2112 and/or thebeacon device 2114, from which the light beam 2116 propagates towardsthe detector 2110. The evaluation device 2133 may have at least onedivider 2134 for forming the combined signal Q, and, as an example, atleast one position evaluation device 2136, for deriving the at least onelongitudinal coordinate z from the combined signal Q. It shall be notedthat the evaluation device 2133 may fully or partially be embodied inhardware and/or software. Thus, as an example, one or more of components2134, 2136 may be embodied by appropriate software components.

In FIG. 36, a modification of the embodiment of FIG. 35 is shown, whichforms an alternative detector 2110. The alternative embodiment of thedetector 2110 widely corresponds to the embodiment shown in FIG. 35. InFIG. 36, the angle dependent optical element 2130 may comprise at leastone optical fiber 2138. The optical fiber 2138 may be adapted totransmit at least parts of incident light beam 2116 which are notabsorbed and/or reflected, between two ends of the optical fiber. Theoptical fiber 2138 may have a length and may be adapted to permittransmission over a distance. The optical fiber 2138 may comprise atleast one fiber core which is surrounded by at least one fiber claddinghaving a lower index of refraction as the fiber core. Below the angle ofacceptance, the optical fiber 2138 may be adapted to guide the incominglight beam by total internal reflection.

The optical fiber 2138 may be designed such that the degree oftransmission may be highest for incoming light rays parallel, i.e. at anangle of 0°, to the optical fiber, neglecting reflection effects. Theoptical fiber 2130 may be designed such that for higher angles, forexample angles from 1° to 10°, the degree of transmission may decreasesmoothly to around 80% of the degree of transmission for parallel lightrays and may remain at this level constantly up to an acceptance angleof the optical fiber 2138. The optical fiber 2138 may be designed suchthat above the acceptance angle total reflection within the opticalfiber 2138 is not possible such that the light rays are reflected out ofthe optical fiber 2138. The optical fiber 2138 may be designed that atthe acceptance angle, the degree of transmission may steeply fall tozero. Light rays having a large angle of incidence may be cut-off.

As shown in FIG. 36, the illumination source 2115 may be adapted toilluminate the object 2112 through the angle dependent optical element2130. The optical fiber 2138 may comprise at least one illuminationfiber 2140 adapted to transmit the light beam 2142 generated by theillumination source 2115 such that it illuminates the object 2112. Theillumination source 2115 may be adapted to couple the at least one lightbeam 2142 generated by the illumination source 2115 into theillumination fiber 2140.

The optical fiber 2138 may comprise at least two or more fibers. Theoptical fiber 2138 may be at least one multifurcated optical fiber, inparticular at least one bifurcated optical fiber. In the embodiment ofFIG. 36, and as shown in the cut through in FIG. 37, the optical fiber2138 may comprise four fibers. In particular the optical fiber maycomprise the illumination fiber 2138 and at least two fibers each forgenerating at least one light beam 2131, denoted as first fiber 2144 andsecond fiber 2146. As shown in FIG. 37, the first fiber 2144 and thesecond fiber 2146 may be arranged close to each other at an entrance end2148 of the optical fiber 2138 and may split into legs separated by adistance at an exit end 2150 of the optical fiber 2138.

The first fiber 2144 and second fiber 2146 may be designed as fibershaving identical properties or may be fibers of different type. Thefirst fiber 2144 may be adapted to generate at least one first lightbeam 2152 and the second fiber 2146 may be adapted to generate at leastone second light beam 2154. The optical fiber 138 may be arranged suchthat the incident light beam 2116 may impinge at a first angle ofincidence into the first fiber 2144 and at a second angle of incidence,different from the first angle, into the second fiber 2146, such thatthe degree of transmission is different for the first light beam 2152and the second light beam 2154. One of the optical sensors 2113 may bearranged at an exit end of the first fiber 2144 and the other opticalsensor 2113 may be arranged at an exit end of the second fiber 2146. Theoptical fiber may comprise more than three fibers, for example fourfibers as depicted in FIG. 37.

It shall further be noted that the embodiments shown in FIGS. 35 and 36simply provide embodiments for determining the longitudinal coordinate zof the object 2112. It is also feasible, however, to modify the setupsof FIGS. 35 and 36 to provide additional information on a transversalcoordinate of the object 2112 and/or of parts thereof. As an example,e.g. in between the transfer device 2128 and the optical sensors 2118,2120, one or more parts of the light beam 2116 may be branched off, andmay be guided to a position-sensitive device such as one or more CCDand/or CMOS pixelated sensors and/or quadrant detectors and/or otherposition sensitive devices, which, from a transversal position of alight spot generated thereon, may derive a transversal coordinate of theobject 2112 and/or of parts thereof. The transversal coordinate may beused to verify and/or enhance the quality of the distance information.For further details, as an example, reference may be made to one or moreof the above-mentioned prior art documents which provide for potentialsolutions of transversal sensors.

FIG. 38 visualizes angle dependent transmission of an angle dependentoptical element 2130. The angle dependent optical element 2130 may bedesigned such that the degree of transmission depends on an angle ofincidence at which the incident light beam propagating from the objecttowards the detector 2116 impinges on the angle dependent opticalelement 2130. The angle dependent optical element 2130 may be designedto weaken rays impinging with larger angles compared to rays impingingwith a smaller angle. In particular, at the cutoff angle the degree oftransmission may steeply fall to zero and the light rays having a largeangle of incidence may be cut-off. As shown in FIG. 38 regions of theincident light beam 2116 are cut-off by the angle dependent opticalelement 2130 in the generated light beam 2131.

FIG. 39 shows a dependency of the transmission power P in W of theoptical fiber at constant irradiated power as a function of angle ofincidence A in degree. The acceptance angle is shown as vertical line.The degree of transmission may be highest for incoming light raysparallel, i.e. at an angle of 0°, to the optical fiber, neglectingreflection effects. For higher angles, for example angles from 1° to10°, the degree of transmission may decrease smoothly to around 80% ofthe degree of transmission for parallel light rays and may remain atthis level constantly up to an acceptance angle of the optical fiber2138. At the acceptance angle, the degree of transmission may steeplyfall to zero. Light rays having a large angle of incidence may becutoff.

FIGS. 40A and 40B show experimental results of distance measurements. InThe determined distance z_(meas) in mm is shown as a function of theobject distance z_(obj) in mm. As illumination source 115 a Laser wasused having a wavelength of 980 nm and average power of 2.4 mW availableunder Flexpoint® Laser components module. Two Si-photodetectors wereused as optical sensors 113. As optical fiber 2138 and transfer device2128 available under Thorlabs Fixed Focus Collimation packageF220SMA-980 was used. In FIG. 40A, the solid line indicates wherez_(meas)=z_(obj). For the measurement the object distance was varied andtwo different types of object were used, in particular a black paperobject, curve 2156 (dotted line), and a white paper object, curve 2158(dashed line). The determined object distance is in agreement with thereal distance within 2% for small and medium distances and within 10%for large distances. In FIG. 40B, the combined signal Q determined bydividing the signals of the two-photodetectors as a function of thedistance z_(obj) in mm is shown for the black paper object (dotted line)and the white paper object (dashed line). The determined quotient forboth object types is in agreement within 2% for small and mediumdistances and within 10% for large distances.

FIG. 41 shows, in a highly schematic illustration, an exemplaryembodiment of a detector 2110, for example according to the embodimentsshown in FIG. 35 or 36. The detector 2110 specifically may be embodiedas a camera 2156 and/or may be part of a camera 2156. The camera 156 maybe made for imaging, specifically for 3D imaging, and may be made foracquiring standstill images and/or image sequences such as digital videoclips. Other embodiments are feasible.

FIG. 41 further shows an embodiment of a detector system 2158, which,besides the at least one detector 2110, comprises one or more beacondevices 2114, which, in this example, may be attached and/or integratedinto an object 2112, the position of which shall be detected by usingthe detector 2110. FIG. 41 further shows an exemplary embodiment of ahuman-machine interface 2160, which comprises the at least one detectorsystem 2158 and, further, an entertainment device 2162, which comprisesthe human-machine interface 2160. The figure further shows an embodimentof a tracking system 2164 for tracking a position of the object 2112,which comprises the detector system 2158. The components of the devicesand systems shall be explained in further detail below.

FIG. 41 further shows an exemplary embodiment of a scanning system 2166for scanning a scenery comprising the object 2112, such as for scanningthe object 2112 and/or for determining at least one position of the atleast one object 2112. The scanning system 2166 comprises the at leastone detector 2110, and, further, optionally, the at least oneillumination source 2115 as well as, optionally, at least one furtherillumination source 2115. The illumination source 2115, generally, isconfigured to emit at least one illumination light beam 2142, such asfor illumination of at least one dot, e.g. a dot located on one or moreof the positions of the beacon devices 2114 and/or on a surface of theobject 2112. The scanning system 2166 may be designed to generate aprofile of the scenery including the object 2112 and/or a profile of theobject 2112, and/or may be designed to generate at least one item ofinformation about the distance between the at least one dot and thescanning system 2166, specifically the detector 2110, by using the atleast one detector 2110.

As outlined above, an exemplary embodiment of the detector 2110 whichmay be used in the setup of FIG. 41 is shown in FIGS. 35 and 36. Thus,the detector 2110, besides the optical sensors 2118, 2120, comprises atleast one evaluation device 2133, having e.g. the at least one divider2134 and/or the at least one position evaluation device 2136, assymbolically depicted in FIG. 41. The components of the evaluationdevice 2133 may fully or partially be integrated into a distinct deviceand/or may fully or partially be integrated into other components of thedetector 2110. Besides the possibility of fully or partially combiningtwo or more components, one or more of the optical sensors 2118, 2120and one or more of the components of the evaluation device 2133 may beinterconnected by one or more connectors 2168 and/or by one or moreinterfaces, as symbolically depicted in FIG. 41. Further, the one ormore connectors 2168 may comprise one or more drivers and/or one or moredevices for modifying or preprocessing sensor signals. Further, insteadof using the at least one optional connector 2168, the evaluation device133 may fully or partially be integrated into one or both of the opticalsensors 2118, 2120 and/or into a housing 2170 of the detector 2110.Additionally or alternatively, the evaluation device 2133 may fully orpartially be designed as a separate device.

In this exemplary embodiment, the object 2112, the position of which maybe detected, may be designed as an article of sports equipment and/ormay form a control element or a control device 2172, the position ofwhich may be manipulated by a user 2174. As an example, the object 2112may be or may comprise a bat, a racket, a club or any other article ofsports equipment and/or fake sports equipment. Other types of objects2112 are possible. Further, the user 2174 himself or herself may beconsidered as the object 2112, the position of which shall be detected.

As outlined above, the detector 2110 comprises at least the opticalsensors 2118, 2120. The optical sensors 2118, 2120 may be located insidethe housing 2170 of the detector 2110. Further, the at least onetransfer device 2128 is comprised, such as one or more optical systems,preferably comprising one or more lenses.

An opening 2176 inside the housing 2170, which, preferably, is locatedconcentrically with regard to the optical axis 2126 of the detector2110, preferably defines a direction of view 2178 of the detector 2110.A coordinate system 2180 may be defined, in which a direction parallelor anti-parallel to the optical axis 2126 may be defined as alongitudinal direction, whereas directions perpendicular to the opticalaxis 126 may be defined as transversal directions. In the coordinatesystem 2180, symbolically depicted in FIG. 41, a longitudinal directionis denoted by z, and transversal directions are denoted by x and y,respectively. Other types of coordinate systems 2180 are feasible, suchas non-Cartesian coordinate systems.

The detector 2110 may comprise the optical sensors 2118, 2120 as wellas, optionally, further optical sensors. The optical sensors 2118, 2120may be located in one and the same beam path, for example one behind theother, such that the first optical sensor 2118 covers a portion of thesecond optical sensor 2120. Alternatively, however, a branched beam pathmay be possible, for example using a multifurcated optical fiber. Thebranched beam path may comprise additional optical sensors in one ormore additional beam paths, such as by branching off a beam path for atleast one transversal detector or transversal sensor for determiningtransversal coordinates of the object 2112 and/or of parts thereof.Alternatively, however, the optical sensors 2118, 2120 may be located atthe same longitudinal coordinate.

One or more light beams 2116 are propagating from the object 2112 and/orfrom one or more of the beacon devices 2114, towards the detector 2110.The detector 2110 is configured for determining a position of the atleast one object 2112. For this purpose, as explained above in thecontext of FIGS. 35 to 40, the evaluation device 2133 is configured toevaluate sensor signals provided by the optical sensors 2118, 2120. Thedetector 2110 is adapted to determine a position of the object 2112, andthe optical sensors 2118, 2120 are adapted to detect the light beam2131. In case no illumination source 2115 is used, the beacon devices2114 and/or at least one of these beacon devices 2114 may be or maycomprise active beacon devices with an integrated illumination sourcesuch as a light-emitting diode. In case the illumination source 2115 isused, the beacon devices 2114 do not necessarily have to be activebeacon devices. Contrarily, a reflective surface of the object 2112 maybe used, such as integrated reflected beacon devices 2114 having atleast one reflective surface such as a mirror, retro reflector,reflective film, or the like. The light beam 2116, directly and/or afterbeing modified by the transfer device 2128, such as being focused by oneor more lenses, impinges on the angle dependent element 2130 whichgenerates the at least one light beam which illuminates thelight-sensitive areas 2122, 2124 of the optical sensors 2118, 2120. Fordetails of the evaluation, reference may be made to FIGS. 35 to 40above.

As outlined above, the determination of the position of the object 2112and/or a part thereof by using the detector 2110 may be used forproviding a human-machine interface 2160, in order to provide at leastone item of information to a machine 2182. In the embodimentsschematically depicted in FIG. 41, the machine 2182 may be a computerand/or may comprise a computer. Other embodiments are feasible. Theevaluation device 2133 may even be fully or partially integrated intothe machine 2182, such as into the computer.

As outlined above, FIG. 41 also depicts an example of a tracking system2164, configured for tracking the position of the at least one object2112 and/or of parts thereof. The tracking system 2164 comprises thedetector 2110 and at least one track controller 2184. The trackcontroller 2184 may be adapted to track a series of positions of theobject 2112 at specific points in time. The track controller 2184 may bean independent device and/or may be fully or partially integrated intothe machine 2182, specifically the computer, as indicated in FIG. 41and/or into the evaluation device 2133.

Similarly, as outlined above, the human-machine interface 2160 may formpart of an entertainment device 2162. The machine 2182, specifically thecomputer, may also form part of the entertainment device 2162. Thus, bymeans of the user 2174 functioning as the object 2112 and/or by means ofthe user 2174 handling a control device 2172 functioning as the object2112, the user 2174 may input at least one item of information, such asat least one control command, into the computer, thereby varying theentertainment functions, such as controlling the course of a computer.

Referring to FIG. 42, the detector 110, 1110, 2110, such as the detectoras described with respect to FIGS. 1 to 41 may be adapted to determinedepth information, in particular absolute depth information, from aradiance ratio of at least two asymmetric regions of a light beamprofile on the at least two optical sensors 113, 1118, 1120, 2113. Forexample, the detector 110, 1110, 2110 may comprise a plurality ofoptical sensors arranged in the matrix 117. The detector 110, 1110, 2110may be adapted to determine depth information from a radiance ratio ofat least two asymmetric regions within an enclosed, in particular,defocused beam profile captured by a single matrix of optical sensorssuch as a CMOS detector. In particular, the detector 110, 1110, 2110 maybe adapted to determine the depth information using the radiance ratioindependent of a certain object size range. As outlined above, thisprinciple is called Distance by Photon Ratio (DPR). In one embodiment,the light beam 116, 1116 may illuminate the sensor element with at leastone pattern comprising at least one feature point. The feature point maybe selected from the group consisting of: at least one point, at leastone line, at least one edge. The pattern may be generated by the object,for example, in response to an illumination by the at least one lightsource with an illumination pattern comprising the at least one pattern.The evaluation device 132 may be configured for deriving the quotientsignal Q by

${Q\left( z_{O} \right)} = \frac{\underset{A_{1}}{\int\int}{E\left( {x,{y;z_{O}}} \right)}{dxdy}}{\underset{A_{2}}{\int\int}{E\left( {x,{y;z_{O}}} \right)}{dxdy}}$wherein x and y are transversal coordinates, A1 and A2 are areas of thebeam profile at the sensor position, and E(x,y,zo) denotes the beamprofile given at the object distance zo. A1 may correspond to a full orcomplete area of a feature point on the optical sensors. A2 may be acentral area of the feature point on the optical sensors. The centralarea may be a constant value. The central area may be smaller comparedto the full area of the feature point. For example, in case of acircular feature point, the central area may have a radius from 0.1 to0.9 of a full radius of the feature point, preferably from 0.4 to 0.6 ofthe full radius.

In the embodiment shown in FIG. 42, the light beam 116, 1116 propagatingfrom the object 112, 1112 to the detector 110, 1110, 2110 may illuminatethe matrix 117 with at least one line pattern 2186. The line pattern2186 may be generated by the object 112, 1112, for example in responseto an illumination by the at least one illumination source 136 with anillumination pattern comprising at least one illumination line pattern.A1 may correspond to an area with a full line width of the line pattern2186 in the matrix 117. The line pattern 2186 in the matrix 117 may bewidened and/or displaced compared to the line pattern of theillumination pattern such that a line width in the matrix 117 isincreased. In particular, the line width of the line pattern 2186 in thematrix 117 may change from one column to another column. A2 may be acentral area of the line pattern 2186 in the matrix 117. The line widthof the central area may be a constant value, and may in particularcorrespond to the line width in the illumination pattern. The centralarea may have a smaller line width compared to the full line width. Forexample, the central area may have a line width from 0.1 to 0.9 of thefull line width, preferably from 0.4 to 0.6 of the full line width. Theline pattern 2186 may be segmented in the matrix 117. Each of thecolumns may comprise center information of intensity in the central areaof the line pattern 2186 and edge information of intensity from regionsextending further outwards from the central area to edge regions of theline pattern 2186.

FIG. 43 shows a simulation testing of object size independence for aone-dimensional case using computational ray tracing. In a simulationtesting, an aspheric lens with f=10 mm, 10 mm pupil diameter in adistance range of 100 mm to 600 mm was used. Using this specification,object size independence of about 10 mm was obtained, such that the spotsize was varied from 1 mm to 25 mm. In FIG. 43, the quotient Q (z) overthe longitudinal coordinate z is shown for 1 mm variation (curve 2188),2 mm variation (curve 2190), 5 mm variation (curve 2192), 15 mmvariation (curve 2194), 20 mm variation (curve 2196) and 25 mm variation(curve 2198). It can be seen that the quotient for object sizes above 10mm deviates, whereas that of object sizes smaller than 10 mm yieldidentical ratios. This feature reduces calibration efforts for targetsof varying size and is inherent to DPR analysis.

Referring to FIGS. 44A and B, as outlined above, the detector 110. 1110,2110 may comprise the at least one matrix 117 of optical sensors 113,1118, 1120, 2113. With the aid of such a pixelated imaging device, adefocused beam profile may be subdivided into cross-sections along linesof a certain angle θ and with a distance ω from the origin of ordinatesas shown in FIG. 44A. Accordingly, the parameterization of a single linewould be given by ω=x cos(θ)+y sin(θ). The integration of the intensityalong parallel lines can be mathematically described by an integralprojection

{⋅} of the well-known Radon transform which reads

( ω , θ ) ⁢ { f ⁡ ( x , y ) } = ∫ ∫ - ∞ ∞ ⁢ f ⁡ ( x , y ) ⁢ δ ⁡ ( x ⁢ ⁢ cos ⁡ ( θ) + y ⁢ ⁢ sin ⁡ ( θ ) - ω ) ⁢ dx ⁢ ⁢ dywhere δ denotes the Dirac delta function and ƒ (x, y) is the intensityof an enclosed defocused beam profile. The photon ratio R for a givenangle θ and projection width ω is then given by

R = ( ω , θ ) ⁢ { f ′ ⁡ ( x , y ) } ( ω , θ ) ⁢ { f ⁡ ( x , y ) }with ƒ′(x, y) as the overshined image region highlighted in FIG. 44B. Itis expected that the variation of θ yields different ratios R for skewedobject surfaces. It may be sufficient to let θ vary in the followinginterval {θ∈

₊, θ<π}.

FIGS. 45A and B show further embodiments of the detector 110 accordingto the present invention comprising at least one bi-cell. Theillumination source 136, such as a laser source, may generate the lightbeam 138 illuminating object 112. The reflected light beam 116 maypropagate from the object 112 to the transfer device 128 and may impingeon the bi-cell of optical sensors 176. In FIG. 45A a side view is shownand in FIG. 45B a front view is shown. The detector 110 may comprise atleast one FiP sensor adapted for generating the so called FiP effect asdescribed in WO 2015/024871 or WO2016/120392. For example, the bi-cellin FIGS. 45A and B may be adapted to generate a so called FiP signal. Asoutlined e.g. in WO 2015/024871 or WO2016/120392, the FiP signal can beused to determine depth information over a wide distance range. The FiPsensor may be adapted to exhibit a positive and/or a negative FiPeffect. The negative FiP effect may be used to tune small image effectsat high distances. Image changes such as position, size, shape,sharpness, etc. may vanish at high distances while the negative FiPeffect increases. Furthermore, no luminance dependence may be introducedsince both cells are at the same longitudinal position and thus receiveidentical photon density.

FIG. 46 shows experimental results, in particular spot diameterindependence and luminance independence of the combined sensor signal,determined using the detector setup shown in FIG. 46. In particular, thebi-cell was a PbS-Bi-cell and a 1550 nm laser was used with a laser spotsize of 4 mm. The baseline was 12.5 mm. The transfer device was aThorlabs Asphere lens with focal length off=20 mm and diameter of D=25mm. FIG. 46 shows quotient Q over the longitudinal coordinate z fordifferent luminance and spot diameter, in particular for luminance of2.6 mW and spot diameter of 12 mm (curve 2200), 2.4 mW and 6 mm (curve2202) and 1.2 mW and spot diameter of 3 mm (curve 2204). All curves showidentical curve shape and thus, spot diameter independence.

FIGS. 47A to C show three embodiments of a hexagonal illuminationpattern. The illumination source 136 may be adapted to generate at leastone illumination pattern for illuminating the object 112. Additionallyor alternatively, the illumination pattern may be generated by at leastone ambient light source. Specifically, the illumination source 136 maycomprise at least one laser and/or laser source. Various types of lasersmay be employed, such as semiconductor lasers. Additionally oralternatively, non-laser light sources may be used, such as LEDs and/orlight bulbs. The illumination pattern may comprise at least one featuresuch as a point or symbol. The illumination pattern may comprise aplurality of features. The illumination pattern may comprise anarrangement of periodic or non-periodic features. The illuminationpattern may be generated by ambient light, such as by at least oneambient light source, or by the at least one illumination source. Theillumination pattern may comprise at least one pattern selected from thegroup consisting of: at least one point pattern, in particular apseudo-random point pattern, a random point pattern or a quasi randompattern; at least one Sobol pattern; at least one quasiperiodic pattern;at least one pattern comprising at least one pre-known feature; at leastone regular pattern; at least one triangular pattern; at least onehexagonal pattern; at least one rectangular pattern at least one patterncomprising convex uniform tilings; at least one line pattern comprisingat least one line; at least one line pattern comprising at least twolines such as parallel or crossing lines. For example, the illuminationsource may be adapted to generate and/or to project a cloud of points.The illumination pattern may comprise regular and/or constant and/orperiodic pattern such as a triangular pattern, a rectangular pattern, ahexagonal pattern, or a pattern comprising further convex tilings. Theillumination pattern may comprise as much as possible features per areasuch that hexagonal pattern may be preferred. A distance between twofeatures of the illumination pattern and/or an area of the at least oneillumination feature may depend on the circle of confusion in the image.

The illumination features of the illumination pattern may be arrangedsuch that only few reference features are positioned on an epipolarline. As shown in FIG. 47A, the illumination pattern may comprise atleast one hexagonal pattern, wherein the individual points arepositioned on epipolar lines 2206. As shown in FIG. 47B, theillumination pattern may comprise at least one hexagonal pattern,wherein the pattern is rotated relative to the baseline. Such apositioning of the illumination features allows enhancing distancebetween the individual points on each epipolar line. For example asshown in FIG. 47C, the illumination pattern may comprise at least onedisplaced hexagonal pattern, wherein individual points of the hexagonalpattern are displaced by a random distance from the regular position,for example orthogonal to the epipolar line of the point. Thedisplacement of the individual points may be smaller than half of thedistance between two parallel epipolar lines, preferably smaller thanone fourth of the distance between two parallel epipolar lines. Thedisplacement of the individual points may be as such that two points arenot displaced above each other. Such a positioning allows to enhance thenumber of possible features per area.

FIG. 48 shows an embodiment of a scanning device 154. The scanningdevice may be adapted as a line scanning device. In particular, thescanning device 154 may comprise at least one sensor line or row ofoptical sensors 113. Furthermore, the scanning device may comprise theat least one transfer device 128 and the at least one illuminationsource 136. Triangulation systems require a sufficient baseline, howeverdue to the baseline in the near filed no detection may be possible. Nearfield detection may be possible if the light spot is tilted in directionof the transfer device. However, the tilting leads to that the lightspot will move out of the field of view which limits detection in farfield regions. Thus, in triangulation systems, the non-zero baselinewill always lead to a substantial reduction in the measurement range, inthe near field, and/or in the far field. Reducing the baseline aspossible with the detector according to the present invention will thusalways increase the measurement range. Further, these near field and farfield problems can be overcome by using the scanning device 154 of FIG.48. The scanning device 154 may be adapted to detect a plurality oflight beams 116 propagating from the object 112 to the scanning device154 on the CMOS line. The light beams 116 may be generated at differentposition on the object 112 or by movement of the object 112. Thescanning device 154 may be adapted to determine at least onelongitudinal coordinate for each of the light points by determining thequotient signal Q as described above.

LIST OF REFERENCE NUMBERS

-   110 detector-   112 object-   113 optical sensors-   114 beacon device-   115 sensor element-   116 light beam-   117 matrix-   118 first optical sensor-   119 mask-   120 second optical sensor-   121 light-sensitive area-   122 first light-sensitive area-   124 second light-sensitive area-   126 optical axis of the detector-   128 transfer device-   129 optical axis of the transfer device-   130 focal point-   131 light spot-   132 evaluation device-   133 center detector-   134 detector system-   135 summing device-   136 illumination source-   137 combining device-   138 illumination light beam-   140 reflective element-   142 divider-   144 position evaluation device-   146 camera-   148 human-machine interface-   150 entertainment device-   152 tracking system-   154 scanning system-   156 connector-   158 housing-   160 control device-   162 user-   164 opening-   166 direction of view-   168 coordinate system-   170 machine-   172 track controller-   174 array-   176 optical sensor-   178 quadrant photodiode-   180 geometrical center of every-   182 geometrical center of first optical sensor-   184 geometrical center of second optical sensor-   186 light spot-   188 actuator-   190 diaphragm-   192 readout device for optical storage media-   194 optical element-   196 region of interest-   198 first area-   200 second area-   202 inner region-   204 plane-   206 outer region-   208 direction of movement-   210 direction of movement-   212 curve-   214 curve-   216 set of curves-   218 set of curves-   1110 detector-   1112 object-   1114 beacon device-   1116 light beam-   1118 first optical sensor-   1120 second optical sensor-   1122 first light-sensitive area-   1124 second light-sensitive area-   1126 optical axis-   1128 transfer device-   1130 focal point-   1132 evaluation device-   1134 detector system-   1136 illumination source-   1138 illumination light beam-   1140 reflective element-   1142 divider-   1144 position evaluation device-   1146 camera-   1148 human-machine interface-   1150 entertainment device-   1152 tracking system-   1154 scanning system-   1156 connector-   1158 housing-   1160 control device-   1162 user-   1164 opening-   1166 direction of view-   1168 coordinate system-   1170 machine-   1172 track controller-   1174 fluorescent waveguiding sheet-   1176 waveguiding-   1178 matrix material-   1180 fluorescent material-   1182 photosensitive element-   1184 photosensitive element-   1186 photosensitive element-   1188 photosensitive element-   1190 edge-   1192 edge-   1194 edge-   1196 edge-   1198 optical filter element-   1200 reference photosensitive element-   1202 small light spot-   1204 large light spot-   1206 shadow-   1208 summing device-   1210 subtracting device-   1212 photosensitive element-   1214 corner-   1216 optical coupling element-   2110 detector-   2112 object-   2113 optical sensors-   2114 beacon device-   2115 Illumination source-   2116 light beam-   2118 first optical sensor-   2120 second optical sensor-   2121 light-sensitive area-   2122 first light-sensitive area-   2124 second light-sensitive area-   2126 optical axis of the detector-   2128 transfer device-   2129 optical axis of the transfer device-   2130 angle dependent optical element-   2131 light beam-   2132 first side-   2133 evaluation device-   2134 divider-   2136 position evaluation device-   2138 Optical fiber-   2140 Illumination fiber-   2142 Light beam-   2144 First fiber-   2146 Second fiber-   2148 entrance end-   2150 exit end-   2152 first light beam-   2154 Second light beam-   2156 camera-   2158 Detector system-   2160 Human-machine interface-   2162 Entertainment device-   2164 Tracking system-   2166 Scanning system-   2168 connector-   2170 housing-   2172 Control device-   2174 user-   2176 opening-   2178 Direction of view-   2180 Coordinate system-   2182 machine-   2184 Track controller-   2186 Line pattern-   2188 curve-   2190 curve-   2192 curve-   2194 curve-   2196 curve-   2198 curve-   2200 curve-   2202 curve-   2204 curve-   2206 Epipolar line

The invention claimed is:
 1. A detector, comprising: at least onetransfer device, wherein the transfer device has at least one focallength in response to at least one incident light beam propagating fromat least one object to the detector; at least two optical sensors,wherein each optical sensor has at least one light sensitive area,wherein each optical sensor is designed to generate at least one sensorsignal in response to an illumination of its respective light-sensitivearea by the light beam, at least one evaluation device being configuredfor determining at least one longitudinal coordinate z of the object byevaluating a quotient signal Q from the sensor signals; wherein thedetector is adapted to determine the longitudinal coordinate z of theobject in at least one measurement range independent from the objectsize in the object plane.
 2. The detector according to claim 1, whereinthe measurement range is adjustable by adjusting one or more parametersselected from the group consisting of: a longitudinal distance from theobject to the transfer device z_(o); the focal length of the transferdevice f; a diameter of an exit pupil of the transfer device E_(x); alongitudinal distance from the transfer device to the light sensitivearea z_(s), a distance from the transfer device to an image of theobject z_(i); an object size O_(size) of the object in the object plane.3. The detector according to claim 2, wherein the detector is adapted todetermine the longitudinal coordinate z of the object independent fromthe object size if a circle of confusion of at least one light beamemitted from at least one point of the object is greater than an imagesize of the object.
 4. The detector according to claim 3, wherein thedetector is adapted to determine the longitudinal coordinate z of theobject independent from the object size if$O_{size} < {\frac{z_{0}E_{x}}{z_{i}^{2}}{{z_{s} - z_{i}}}}$ holdstrue tor at least one distance.
 5. The detector according to claim 4,wherein a lower object size limit is 0.5 μm or more.
 6. The detectoraccording to claim 1, wherein the evaluation device is configured forderiving the quotient signal Q by one or more of dividing the sensorsignals, dividing multiples of the sensor signals, dividing linearcombinations of the sensor signals.
 7. The detector according to claim1, wherein the evaluation device is configured for using at least onepredetermined relationship between the quotient signal Q and thelongitudinal coordinate for determining the longitudinal coordinate. 8.The detector according to claim 1, wherein the evaluation device isconfigured for deriving the quotient signal Q by${Q\left( z_{O} \right)} = \frac{\underset{A_{1}}{\int\int}{E\left( {x,{y;z_{O}}} \right)}{dxdy}}{\underset{A_{2}}{\int\int}{E\left( {x,{y;z_{O}}} \right)}{dxdy}}$wherein x and y are transversal coordinates, A1 and A2 are areas of thebeam profile at the sensor position, and E(x,y,z_(o)) denotes the beamprofile given at the object distance z₀.
 9. The detector according toclaim 1, wherein the optical sensors are positioned off focus.
 10. Thedetector according to claim 1, wherein the transfer device has anoptical axis, wherein the transfer device constitutes a coordinatesystem, wherein a longitudinal coordinate 1 is a coordinate along theoptical axis and wherein d is a spatial offset from the optical axis,wherein the optical sensors are arranged such that the light-sensitiveareas of the optical sensors differ in at least one of: theirlongitudinal coordinate, their spatial offset, or their surface areas.11. The detector according to claim 1, wherein each of the sensorsignals comprises at least one information of at least one area of atleast one beam profile of the light beam.
 12. The detector according toclaim 11, wherein the beam profile is selected from the group consistingof a trapezoid beam profile; a triangle beam profile; a conical beamprofile and a linear combination of Gaussian beam profiles.
 13. Thedetector according to claim 11, wherein the light-sensitive areas arearranged such that a first sensor signal comprises information of afirst area of the beam profiles and a second sensor signal comprisesinformation of a second area of the beam profile, wherein the first areaof the beam profile and the second area of the beam profile are one orboth of adjacent or overlapping regions.
 14. The detector according toclaim 13, wherein the first area of the beam profile comprisesessentially edge information of the beam profile and the second area ofthe beam profile comprises essentially center information of the beamprofile.
 15. The detector according to claim 14, wherein the edgeinformation comprises information relating to a number of photons in thefirst area of the beam profile and the center information comprisesinformation relating to a number of photons in the second area of thebeam profile.
 16. The detector according to claim 1, wherein the opticalsensors comprise a first optical sensor having a first light sensitivearea and a second optical sensor having a second light sensitive area,wherein the first and the second light sensitive areas are arranged suchthat a condition $\frac{a}{c} \neq \frac{b}{d}$ is satisfied, wherein ais a ratio of photons hitting both an inner region of a planeperpendicular to the optical axis intersecting the optical axis at adistance equal to half of a focal length of the transfer device and thefirst light sensitive area, b is a ratio of photons hitting both theinner region of the plane and the second light sensitive area, c is aratio of photons hitting both an outer region of the plane and the firstlight-sensitive area, d is a ratio of the photons hitting both the outerregion of the plane and the second light sensitive area.
 17. Thedetector according to claim 16, wherein the first light sensitive areaand the second light sensitive area are arranged such that the innerregion is designed as a circle with a center point on the optical axisand a radius r which is chosen such that half of the photons hit theplane within the circle and the other half hit the plane outside thecircle.
 18. The detector according to claim 1, wherein the opticalsensors comprise a first optical sensor having a first light sensitivearea and a second optical sensor having a second light sensitive area,wherein the first optical sensor is configured to generate at least onefirst sensor signal in response to the illumination of the firstlight-sensitive area by the light beam propagating from the object tothe detector; wherein the second optical sensor is configured togenerate at least one second sensor signal in response to theillumination of the second light-sensitive area by the light beam,wherein the first light-sensitive area is smaller than the secondlight-sensitive area.
 19. The detector according to claim 18, whereinthe first and second optical sensors are arranged linearly in one andthe same beam path of the detector.
 20. The detector according to claim19, wherein the first and second optical sensors are arrangedconcentrically with respect to an optical axis of the detector.
 21. Thedetector according to claim 18, wherein the first and second opticalsensors each are semiconductor sensors.
 22. The detector according toclaim 18, wherein the first and second optical sensors each are uniformsensors having a single light-sensitive area each.
 23. The detectoraccording to claim 18, wherein the detector further comprises anillumination source for illuminating the object.
 24. The detectoraccording to claim 1, wherein the detector has at least one sensorelement having a matrix of optical sensors, the optical sensors eachhaving a light-sensitive area, wherein each optical sensor is configuredto generate at least one sensor signal in response to an illumination ofthe light-sensitive area by at least one light beam propagating from theobject to the detector; the at least one evaluation device configuredfor evaluating the sensor signals, by a) determining at least oneoptical sensor having the highest sensor signal and forming at least onecenter signal; b) evaluating the sensor signals of the optical sensorsof the matrix and forming at least one sum signal; c) determining atleast one combined signal by combining the center signal and the sumsignal; and d) determining at least one longitudinal coordinate z of theobject by evaluating the combined signal.
 25. The detector according tothe preceding claim 24, wherein the center signal is selected from thegroup consisting of: the highest sensor signal; an average of a group ofsensor signals being within a predetermined range of tolerance from thehighest sensor signal; an average of sensor signals from a group ofoptical sensors containing the optical sensor having the highest sensorsignal and a predetermined group of neighboring optical sensors; a sumof sensor signals from a group of optical sensors containing the opticalsensor having the highest sensor signal and a predetermined group ofneighboring optical sensors; a sum of a group of sensor signals beingwithin a predetermined range of tolerance from the highest sensorsignal; an average of a group of sensor signals being above apredetermined threshold; a sum of a group of sensor signals being abovea predetermined threshold; an integral of sensor signals from a group ofoptical sensors containing the optical sensor having the highest sensorsignal and a predetermined group of neighboring optical sensors; anintegral of a group of sensor signals being within a predetermined rangeof tolerance from the highest sensor signal; an integral of a group ofsensor signals being above a predetermined threshold.
 26. The detectoraccording to claim 24, wherein the sum signal is selected from the groupconsisting of: an average over all sensor signals of the matrix; a sumof all sensor signals of the matrix; an integral of all sensor signalsof the matrix; an average over all sensor signals of the matrix exceptfor sensor signals from those optical sensors contributing to the centersignal; a sum of all sensor signals of the matrix except for sensorsignals from those optical sensors contributing to the center signal; anintegral of all sensor signals of the matrix except for sensor signalsfrom those optical sensors contributing to the center signal; a sum ofsensor signals of optical sensors within a predetermined range from theoptical sensor having the highest sensor signal; an integral of sensorsignals of optical sensors within a predetermined range from the opticalsensor having the highest sensor signal; a sum of sensor signals above acertain threshold of optical sensors being located within apredetermined range from the optical sensor having the highest sensorsignal; an integral of sensor signals above a certain threshold ofoptical sensors being located within a predetermined range from theoptical sensor having the highest sensor signal.
 27. The detectoraccording to claim 24, wherein the combined signal is the quotientsignal Q, derived by one or more of: forming a quotient of the centersignal and the sum signal or vice versa; forming a quotient of amultiple of the center signal and a multiple of the sum signal or viceversa; forming a quotient of a linear combination of the center signaland a linear combination of the sum signal or vice versa; forming aquotient of a first linear combination of the center signal and the sumsignal and a second linear combination of the center signal and the sumsignal.
 28. The detector according to claim 27, wherein the evaluationdevice comprises at least one divider, wherein the divider is configuredfor deriving the quotient signal.
 29. The detector according to claim24, wherein the evaluation device is further configured for determiningat least one transversal coordinate of the object by evaluating atransversal position of the at least one optical sensor having thehighest sensor signal.
 30. The detector according to claim 1, whereinthe optical sensors are part of a sensor array, wherein a geometricalcenter of the sensor array is offset from the optical axis.
 31. Thedetector according to claim 30, wherein the sensor array is movablerelative to the optical axis.
 32. The detector according to claim 31,wherein the evaluation device is configured for, firstly, determiningthe transversal position of a light spot generated by the light beam onthe sensor array by using the sensor signals and for, secondly, movingthe sensor array relative to the optical axis until the light spot isoff-centered.
 33. The detector according to claim 30, wherein theoptical sensors are partial diodes of a quadrant diode, with ageometrical center of the quadrant diode being off-centered from theoptical axis of the detector.
 34. The detector according to claim 1, thedetector having at least one first optical sensor having a firstlight-sensitive area, wherein the first optical sensor is configured togenerate at least one first sensor signal in response to an illuminationof the first light-sensitive area by a light beam propagating from theobject to the detector; at least one second optical sensor having: atleast one fluorescent waveguiding sheet forming a second light-sensitivearea, wherein the fluorescent waveguiding sheet is oriented towards theobject such that at least one light beam propagating from the objecttowards the detector generates at least one light spot in the secondlight-sensitive area, wherein the fluorescent waveguiding sheet containsat least one fluorescent material, wherein the fluorescent material isadapted to generate fluorescence light in response to the illuminationby the light beam; and at least one photosensitive element located at atleast one edge of the fluorescent waveguiding sheet, capable ofdetecting fluorescence light guided from the light spot towards thephotosensitive element by the fluorescent waveguiding sheet and capableof generating at least one second sensor signal in response to theillumination of the second light-sensitive area by the light beam,wherein the first light-sensitive area is smaller than the secondlight-sensitive area; and at least one evaluation device beingconfigured for determining at least one longitudinal coordinate z of theobject by evaluating the first and second sensor signals.
 35. Thedetector according to claim 34, wherein the at least one photosensitiveelement is optically coupled to the fluorescent waveguiding sheet by atleast one optical coupling element configured for at least partiallycoupling the fluorescence light guided by the fluorescent waveguidingsheet out of the fluorescent waveguiding sheet.
 36. The detectoraccording to claim 34, wherein the first optical sensor is located infront of the second optical sensor.
 37. The detector according to claim34, wherein the second optical sensor comprises at least twophotosensitive elements located at at least two edges of the fluorescentwaveguiding sheet, capable of detecting fluorescence light guided fromthe light spot towards the photosensitive elements by the fluorescentwaveguiding sheet and capable of generating at least one sensor signaleach.
 38. The detector according to claim 37, wherein the evaluationdevice comprises at least one summing device configured for summing upthe sensor signals of the at least two photosensitive elements, therebyforming a sum signal S, wherein the evaluation device is configured todetermine the at least one longitudinal coordinate z of the object byusing at least one predetermined relationship between the first sensorsignal, the sum signal S of the second sensor signals and thelongitudinal coordinate z.
 39. The detector according to claim 37,wherein the evaluation device is further configured to determine atleast one transversal coordinate x, y of the object by evaluating thesensor signals of the photosensitive elements.
 40. The detectoraccording to claim 34, wherein the second light-sensitive area is largerby at least a factor of two than the first light-sensitive area.
 41. Thedetector according to claim 1, the detector comprising: at least oneangle dependent optical element adapted to generate at least one lightbeam having at least one beam profile depending on an angle of incidenceof an incident light beam propagating from the object towards thedetector and illuminating the angle dependent optical element; at leasttwo optical sensors, wherein each optical sensor has at least one lightsensitive area, wherein each optical sensor is designed to generate atleast one sensor signal in response to an illumination of its respectivelight-sensitive area by the light beam generated by the angle dependentoptical element; at least one evaluation device being configured fordetermining at least one longitudinal coordinate z of the object byevaluating the quotient signal Q from the sensor signals.
 42. Thedetector according to claim 41, wherein the angle dependent opticalelement comprises at least one optical element selected from the groupconsisting of: at least one optical fiber, in particular at least onemultifurcated optical fiber, in particular at least one bifurcatedoptical fiber; at least one diffractive optical element; at least oneangle dependent reflective element, at least one diffractive gratingelement, in particular a blaze grating element; at least one aperturestop; at least one prism; at least one lens; at least one lens array, inparticular at least one microlens array; at least one optical filter; atleast one polarization filter; at least one bandpass filter; at leastone liquid crystal filter, in particular a liquid crystal tunablefilter; at least one short-pass filter; at least one long-pass filter;at least one notch filter; at least one interference filter; at leastone transmission grating; at least one nonlinear optical element, inparticular one birefringent optical element.
 43. A scanning system,comprising: at least one detector according to claim 1, and at least oneillumination source adapted to scan the scenery with at least one lightbeam.
 44. A method for determining a position of at least one object byusing at least one detector, the method comprising: providing at leasttwo optical sensors, each optical sensor having a light-sensitive area,wherein each optical sensor is configured to generate a sensor signal inresponse to an illumination of its respective light-sensitive area by alight beam, wherein the detector has at least one transfer device,wherein the transfer device has at least one focal length in response tothe light beam propagating from the object to the detector; illuminatingeach of the light-sensitive areas of the at least two optical sensors ofthe detector with the light beam propagating from the object to thedetector, wherein, thereby, each of the light-sensitive areas generatesat least one sensor signal; and evaluating the sensor signals, thereby,determining at least one longitudinal coordinate z of the object,wherein the evaluating comprises deriving a quotient signal Q of thesensor signals, wherein the longitudinal coordinate z of the object isdetermined in at least one measurement range independent from the objectsize in the object plane.
 45. The method according to claim 44, whereina first area of the beam profile comprises essentially edge informationof the beam profile and a second area of the beam profile comprisesessentially center information of the beam profile, wherein the edgeinformation comprises an information relating to a number of photons inthe first area of the beam profile and the center information comprisesan information relating to a number of photons in the second area of thebeam profile, wherein the evaluating comprises deriving the quotientsignal Q by one or more of dividing the edge information and the centerinformation, dividing multiples of the edge information and the centerinformation, dividing linear combinations of the edge information andthe center information.
 46. The method according to claim 44, the methodcomprising: illuminating at least one sensor element of the detectorwith the at least one light beam propagating from the object to thedetector, the detector having a matrix of optical sensors, the opticalsensors each having a light-sensitive area, wherein each optical sensorgenerates at least one sensor signal in response to the illumination;evaluating the sensor signals, by a) determining at least one opticalsensor having the highest sensor signal and forming at least one centersignal; b) evaluating the sensor signals of the optical sensors of thematrix and forming at least one sum signal; c) determining at least onecombined signal by combining the center signal and the sum signal; andd) determining at least one longitudinal coordinate z of the object byevaluating the combined signal.
 47. The method according to claim 46,wherein the combined signal is the quotient signal Q, derived by one ormore of: forming a quotient of the center signal and the sum signal orvice versa; forming a quotient of a multiple of the center signal and amultiple of the sum signal or vice versa; forming a quotient of a linearcombination of the center signal and a linear combination of the sumsignal or vice versa; forming a quotient of a first linear combinationof the center signal and the sum signal and a second linear combinationof the center signal and the sum signal.
 48. The method according toclaim 44, wherein each light-sensitive area has a geometrical center,wherein the geometrical centers of the optical sensors are spaced apartfrom an optical axis of the detector by different separations.
 49. Themethod according to claim 44, the method comprising: providing at leastone angle dependent optical element and generating at least one lightbeam having at least one beam profile depending on an angle ofincidence; providing at least two optical sensors, wherein each opticalsensor has at least one light sensitive area, wherein each opticalsensor is designed to generate at least one sensor signal in response toan illumination of its respective light-sensitive area by the light beamgenerated by the angle dependent optical element; illuminating each ofthe light-sensitive areas of the at least two optical sensors of thedetector with the light beam generated by the angle dependent opticalelement, wherein, thereby, each of the light-sensitive areas generatesat least one sensor signal; and evaluating the sensor signals, thereby,determining at least one longitudinal coordinate z of the object,wherein the evaluating comprises deriving the quotient signal Q of thesensor signals.